Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions
In recent years, the formation control of multi-mobile robots has been widely investigated by researchers. With increasing numbers of robots in the formation, distributed formation control has become the development trend of multi-mobile robot formation control, and the consensus problem is the most...
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doaj-1f6b3d1688bd42a8a8dd39d51d7661b72020-11-25T02:56:09ZengMDPI AGApplied Sciences2076-34172019-03-0195100410.3390/app9051004app9051004Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay ConditionsHeng Wei0Qiang Lv1Nanxun Duo2GuoSheng Wang3Bing Liang4Weapons and Control Department, Academy of Army Armored Forces, Beijing 100072, ChinaWeapons and Control Department, Academy of Army Armored Forces, Beijing 100072, ChinaWeapons and Control Department, Academy of Army Armored Forces, Beijing 100072, ChinaWeapons and Control Department, Academy of Army Armored Forces, Beijing 100072, ChinaSchool of Information Engineering, Jiangxi University of Science and Technology, Ganzhou 341000, ChinaIn recent years, the formation control of multi-mobile robots has been widely investigated by researchers. With increasing numbers of robots in the formation, distributed formation control has become the development trend of multi-mobile robot formation control, and the consensus problem is the most basic problem in the distributed multi-mobile robot control algorithm. Therefore, it is very important to analyze the consensus of multi-mobile robot systems. There are already mature and sophisticated strategies solving the consensus problem in ideal environments. However, in practical applications, uncertain factors like communication noise, communication delay and measurement errors will still lead to many problems in multi-robot formation control. In this paper, the consensus problem of second-order multi-robot systems with multiple time delays and noises is analyzed. The characteristic equation of the system is transformed into a quadratic polynomial of pure imaginary eigenvalues using the frequency domain analysis method, and then the critical stability state of the maximum time delay under noisy conditions is obtained. When all robot delays are less than the maximum time delay, the system can be stabilized and achieve consensus. Compared with the traditional Lyapunov method, this algorithm has lower conservativeness, and it is easier to extend the results to higher-order multi-robot systems. Finally, the results are verified by numerical simulation using MATLAB/Simulink. At the same time, a multi-mobile robot platform is built, and the proposed algorithm is applied to an actual multi-robot system. The experimental results show that the proposed algorithm is finally able to achieve the consensus of the second-order multi-robot system under delay and noise interference.http://www.mdpi.com/2076-3417/9/5/1004multi-robotconsensus problemformation controlnoisetime delay |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Heng Wei Qiang Lv Nanxun Duo GuoSheng Wang Bing Liang |
spellingShingle |
Heng Wei Qiang Lv Nanxun Duo GuoSheng Wang Bing Liang Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions Applied Sciences multi-robot consensus problem formation control noise time delay |
author_facet |
Heng Wei Qiang Lv Nanxun Duo GuoSheng Wang Bing Liang |
author_sort |
Heng Wei |
title |
Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions |
title_short |
Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions |
title_full |
Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions |
title_fullStr |
Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions |
title_full_unstemmed |
Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions |
title_sort |
consensus algorithms based multi-robot formation control under noise and time delay conditions |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2019-03-01 |
description |
In recent years, the formation control of multi-mobile robots has been widely investigated by researchers. With increasing numbers of robots in the formation, distributed formation control has become the development trend of multi-mobile robot formation control, and the consensus problem is the most basic problem in the distributed multi-mobile robot control algorithm. Therefore, it is very important to analyze the consensus of multi-mobile robot systems. There are already mature and sophisticated strategies solving the consensus problem in ideal environments. However, in practical applications, uncertain factors like communication noise, communication delay and measurement errors will still lead to many problems in multi-robot formation control. In this paper, the consensus problem of second-order multi-robot systems with multiple time delays and noises is analyzed. The characteristic equation of the system is transformed into a quadratic polynomial of pure imaginary eigenvalues using the frequency domain analysis method, and then the critical stability state of the maximum time delay under noisy conditions is obtained. When all robot delays are less than the maximum time delay, the system can be stabilized and achieve consensus. Compared with the traditional Lyapunov method, this algorithm has lower conservativeness, and it is easier to extend the results to higher-order multi-robot systems. Finally, the results are verified by numerical simulation using MATLAB/Simulink. At the same time, a multi-mobile robot platform is built, and the proposed algorithm is applied to an actual multi-robot system. The experimental results show that the proposed algorithm is finally able to achieve the consensus of the second-order multi-robot system under delay and noise interference. |
topic |
multi-robot consensus problem formation control noise time delay |
url |
http://www.mdpi.com/2076-3417/9/5/1004 |
work_keys_str_mv |
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1724713960857403392 |