Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays
A distributed formation control scheme of multi-robot systems for bipartite consensus under communication delays is presented in this paper. The bipartite consensus protocol under communication delays is first proposed. Under the bipartite consensus protocol, a necessary and sufficient condition is...
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doaj-0576236483a94ded83df3efd6f974d692021-04-05T17:34:06ZengIEEEIEEE Access2169-35362019-01-01714479014479810.1109/ACCESS.2019.29426428845660Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying DelaysChengguo Zong0https://orcid.org/0000-0003-1806-9404Zhijian Ji1Lei Tian2https://orcid.org/0000-0002-0727-7446Yuan Zhang3College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, ChinaCollege of Automation, Institute of Complexity Science, Qingdao University, Qingdao, ChinaCollege of Automation, Institute of Complexity Science, Qingdao University, Qingdao, ChinaCollege of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao, ChinaA distributed formation control scheme of multi-robot systems for bipartite consensus under communication delays is presented in this paper. The bipartite consensus protocol under communication delays is first proposed. Under the bipartite consensus protocol, a necessary and sufficient condition is then presented for achieving bipartite consensus of the multi-agent system without time-delays. For the system with time-delays, a sufficient condition to asymptotically achieve the bipartite consensus is proposed. Furthermore, a universal multi-robot formation control protocol with communication delays is put forward according to the given bipartite consensus protocol. As an example, the bipartite consensus protocol under communication delays is applied to multi-robot formation control. Finally, a number of simulations are proposed to demonstrate the theoretical contributions of this work.https://ieeexplore.ieee.org/document/8845660/Formation controlmulti-robot systemsbipartite consensustime-varying delays |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Chengguo Zong Zhijian Ji Lei Tian Yuan Zhang |
spellingShingle |
Chengguo Zong Zhijian Ji Lei Tian Yuan Zhang Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays IEEE Access Formation control multi-robot systems bipartite consensus time-varying delays |
author_facet |
Chengguo Zong Zhijian Ji Lei Tian Yuan Zhang |
author_sort |
Chengguo Zong |
title |
Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays |
title_short |
Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays |
title_full |
Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays |
title_fullStr |
Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays |
title_full_unstemmed |
Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays |
title_sort |
distributed multi-robot formation control based on bipartite consensus with time-varying delays |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2019-01-01 |
description |
A distributed formation control scheme of multi-robot systems for bipartite consensus under communication delays is presented in this paper. The bipartite consensus protocol under communication delays is first proposed. Under the bipartite consensus protocol, a necessary and sufficient condition is then presented for achieving bipartite consensus of the multi-agent system without time-delays. For the system with time-delays, a sufficient condition to asymptotically achieve the bipartite consensus is proposed. Furthermore, a universal multi-robot formation control protocol with communication delays is put forward according to the given bipartite consensus protocol. As an example, the bipartite consensus protocol under communication delays is applied to multi-robot formation control. Finally, a number of simulations are proposed to demonstrate the theoretical contributions of this work. |
topic |
Formation control multi-robot systems bipartite consensus time-varying delays |
url |
https://ieeexplore.ieee.org/document/8845660/ |
work_keys_str_mv |
AT chengguozong distributedmultirobotformationcontrolbasedonbipartiteconsensuswithtimevaryingdelays AT zhijianji distributedmultirobotformationcontrolbasedonbipartiteconsensuswithtimevaryingdelays AT leitian distributedmultirobotformationcontrolbasedonbipartiteconsensuswithtimevaryingdelays AT yuanzhang distributedmultirobotformationcontrolbasedonbipartiteconsensuswithtimevaryingdelays |
_version_ |
1721539248572596224 |