Consensus formation control for a class of networked multiple mobile robot systems (Q446436)

Summary: 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 developing 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.