Consensus Control of Two Wheeled Mobile Robots with Time Delay
| Autor: | R Resmi, Jeevamma Jacob, S. J. Mija |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Multi-agent system 020208 electrical & electronic engineering Graph theory Mobile robot 02 engineering and technology Synchronization Algebraic graph theory 020901 industrial engineering & automation Control theory Integrator Limit (music) Convergence (routing) 0202 electrical engineering electronic engineering information engineering |
| Zdroj: | 2020 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES). |
| DOI: | 10.1109/pedes49360.2020.9379671 |
| Popis: | This paper focuses on achieving consensus control for a group of two wheeled mobile robots subjected to time delay. Multi agent systems are affected by way of non-convergence due to delays in communication and data processing. Based on algebraic graph theory, a condition for the maximum limit of input delay that can be tolerated in achieving consensus is derived and proved that consensus convergence is independent of communication delay. Theoretical results are supported by applying the consensus control to synchronize the movements of a network of two wheeled mobile robots, each of which is modeled by single integrator dynamics, and the results are validated through simulation. |
| Databáze: | OpenAIRE |
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