Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems | Zendy

Long Sheng | Zendy; YaJun Pan | Zendy; Xiang Gong | Zendy

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Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems

Author(s) -

Long Sheng,

YaJun Pan,

Xiang Gong

Publication year - 2012

Publication title -

journal of control science and engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.208

H-Index - 18

eISSN - 1687-5257

pISSN - 1687-5249

DOI - 10.1155/2012/150250

Subject(s) - mobile robot , linear matrix inequality , class (philosophy) , control theory (sociology) , control (management) , computer science , constant (computer programming) , robot , matrix (chemical analysis) , lyapunov function , control engineering , engineering , mathematics , mathematical optimization , artificial intelligence , nonlinear system , materials science , physics , quantum mechanics , composite material , programming language

A consensus-based formation control for a class of networked multiple mobile robots is investigated with a virtual leader approach. A novel distributed controlalgorithm is designed based on the Lyapunov method and linear matrix inequality (LMI) technique for time delay systems. A multiple Lyapunov Krasovskii functional candidate is proposedfor 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

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