Title :
Consensus algorithm with input constraints for swarm robots formation control
Author :
Bin Lei ; Hao Chen ; Liangcai Zeng ; Quanjie Gao
Author_Institution :
Coll. of Mach. & Auto., Wuhan Univ. of Sci. &Tech., Wuhan, China
Abstract :
In this paper, a consensus algorithm with input constraints for swarm robots was introduced. The stability of the algorithm was proved via Lyapnov stability criterion. The algorithm of aggregation and dispersion behavior with input constraints was established by applying the algorithm to formation control. The simulation results of swarm robots formation control showed that the converge rate of the consensus with input constrains is slower and smoother than the consensus without input constrains.
Keywords :
Lyapunov methods; multi-robot systems; stability criteria; Lyapnov stability criterion; aggregation behavior algorithm; consensus algorithm with input constraints; dispersion behavior algorithm; swarm robot formation control; Mathematical model; Network topology; Robot kinematics; Simulation; Stability criteria; Topology; consensus; constraints; formation control; swarm robots;
Conference_Titel :
Networking, Sensing and Control (ICNSC), 2015 IEEE 12th International Conference on
Conference_Location :
Taipei
DOI :
10.1109/ICNSC.2015.7116027
