Consensus formation control for a class of networked multiple mobile robot systems (Q446436)
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| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Consensus formation control for a class of networked multiple mobile robot systems |
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Consensus formation control for a class of networked multiple mobile robot systems (English)
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6 September 2012
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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.
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consensus-based formation control
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networked multiple mobile robots
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distributed control algorithm
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Lyapunov method
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linear matrix inequality (LMI) technique
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multiple Lyapunov--Krasovskii functional
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