Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays

被引：34

作者：

Zong, Chengguo ^{[1
]}

Ji, Zhijian ^{[2
]}

Tian, Lei ^{[2
,3
]}

Zhang, Yuan ^{[1
]}

机构：

[1] Shandong Univ Sci & Technol, Coll Mech & Elect Engn, Qingdao 266590, Peoples R China

[2] Qingdao Univ, Coll Automat, Inst Complex Sci, Qingdao 266071, Peoples R China

[3] Qingdao Univ, Sch Math & Stat, Qingdao 266071, Peoples R China

来源：

IEEE ACCESS | 2019年 / 7卷

关键词：

Formation control; multi-robot systems; bipartite consensus; time-varying delays; MULTIAGENT SYSTEMS; COOPETITION NETWORKS; SWARM SYSTEMS; AGENTS; COMMUNICATION; TOPOLOGIES; DESIGN;

D O I：

10.1109/ACCESS.2019.2942642

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：144790 / 144798

页数：9

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