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

Autor:	Long Sheng, Ya-Jun Pan, Xiang Gong
Jazyk:	angličtina
Rok vydání:	2012
Předmět:	Engineering (General). Civil engineering (General) TA1-2040 Electronic computers. Computer science QA75.5-76.95
Zdroj:	Journal of Control Science and Engineering, Vol 2012 (2012)
Druh dokumentu:	article
ISSN:	1687-5249 1687-5257
DOI:	10.1155/2012/150250
Popis:	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.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/04309f203bcf465aa959b22f21786f4b Zobrazit plný text záznamu Plný text View record in DOAJ