By Topic

On the trajectory tracking and coordination of multi-robot systems with communication delay

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Bouteraa, Y. ; Eng. Sch. of Sfax, Univ. of Sfax, Sfax, Tunisia ; Poisson, G. ; Ghommam, J. ; Derbel, N.

We develop new control approach to position synchronization of lagrangian systems based on emergent consenus algorithms. The proposed control approach works to accomplish multi-robot systems synchronization. The control strategy is to synchronize the angular position and the velocity of each robot in the group. The cooperative strategy only requires local neighbor-to-neighbor information exchange between systems and does not assume the existence of an explicit leader in the team. A combination of the lyapunov-based techniques and graph theory have been used to establish the multi-robot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time delays problem in the cooperative network communication, the suggested synchronization control law is shown to synchronize multiple robots as well as to track given trajectory, taking into account the presence of the time delay. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem.

Published in:

Systems, Signals and Devices (SSD), 2011 8th International Multi-Conference on

Date of Conference:

22-25 March 2011