Title :
Consensus of multiple mobile robot systems with directed topologies and nonuniform time delays
Author :
Shi Mengji ; Qin Kaiyu ; Ping Li
Author_Institution :
Sch. of Aeronaut. & Astronaut., Univ. of Electron. Sci. & Technol. of China, Chengdu, China
Abstract :
This paper proposes a simple method to solve consensus problems of multi-robot systems with directed topologies and nonuniform time delays. The frequency domain method is applied to a second-order system in which the robots are expected to achieve rectilinear consensus motions. Sufficient conditions are provided for the system: if all the time delays are bounded by a derived value, the nonuniform delays won´t affect the consensus achievement of the system. Simulation examples are provided to illustrate the results.
Keywords :
delays; directed graphs; frequency-domain analysis; mobile robots; motion control; multi-robot systems; consensus problem; directed topology; frequency domain method; multiple mobile robot system; nonuniform time delay; rectilinear consensus motion; second-order system; Delay effects; Delays; Eigenvalues and eigenfunctions; Multi-agent systems; Multi-robot systems; Robots; Topology;
Conference_Titel :
Mechatronics and Control (ICMC), 2014 International Conference on
Print_ISBN :
978-1-4799-2537-7
DOI :
10.1109/ICMC.2014.7231661
