Abstract
A consensus-based formation control for a class of networked multiple mobile robots is investigated with a virtual leader approach. A novel distributed control algorithm is designed based on the Lyapunov method and linear matrix inequality (LMI) technique for time delay systems. A multiple Lyapunov Krasovskii functional candidate is proposed for investigating the sufficient conditions to linear control gain design for the system with constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.
Highlights
Embedded computational resources in autonomous robotic vehicles are becoming more abundant and have enabled improved operational effectiveness of cooperative robotic systems in civilian and military applications
Nonholonomic systems cannot be stabilized with continuous static-state feedback, so the difficulty of the coordination problem for differentially driven mobile robots is that the position and orientation of the center of the robot cannot be simultaneously stabilized with a time-invariant feedback control strategy
The proposed distributed formation control strategy is applied to multiple mobile robots for experimental tests
Summary
Embedded computational resources in autonomous robotic vehicles are becoming more abundant and have enabled improved operational effectiveness of cooperative robotic systems in civilian and military applications. The research objective is defined based on a system of some subsystems rather than a single system; the effects caused by the communication constraints should be considered and how to design coordination strategies so that coordination will result in a group cooperation [10, 11]. A novel distributed control algorithm is designed based on the Lyapunov method and linear matrix inequalities (LMIs) technique for multiple robot systems. A consensus-based design scheme is applied to the formation control of multiple-wheeled mobile-robot group with a virtual leader. In addition to simulation results, the proposed control strategy is experimentally implemented for multiple-wheeled mobile robots under neighbor-to-neighbor information exchange with group communication delay involved.
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