Distributed Multi-Robot Formation Control Based on Bipartite Consensus With Time-Varying Delays
نویسندگان
چکیده
منابع مشابه
ADAPTIVE FUZZY TRACKING CONTROL FOR A CLASS OF NONLINEAR SYSTEMS WITH UNKNOWN DISTRIBUTED TIME-VARYING DELAYS AND UNKNOWN CONTROL DIRECTIONS
In this paper, an adaptive fuzzy control scheme is proposed for a class of perturbed strict-feedback nonlinear systems with unknown discrete and distributed time-varying delays, and the proposed design method does not require a priori knowledge of the signs of the control gains.Based on the backstepping technique, the adaptive fuzzy controller is constructed. The main contributions of the paper...
متن کاملNonlinear Multi-Agent System Consensus with Time-Varying Delays
Most consensus protocols for Multi-Agent Systems (MAS) presented in the past do not consider communication constraints such as delays in the exchange of information between the agents. In this paper, we provide conditions for a nonlinear, locally passive MAS with timevarying communication delays to reach a consensus, using a recently presented method based on an invariance principle for Lyapuno...
متن کاملDecentralized time-varying formation control for multi-robot systems
In this paper, a distributed controller–observer schema for tracking control of the centroid and of the relative formation of a multi-robot system with first-order dynamics is presented. Each robot of the team uses a distributed observer to estimate the overall system state and a motion control strategy for tracking control of timevarying centroid and formation. Proof of the overall convergence...
متن کاملadaptive fuzzy tracking control for a class of nonlinear systems with unknown distributed time-varying delays and unknown control directions
in this paper, an adaptive fuzzy control scheme is proposed for a class of perturbed strict-feedback nonlinear systems with unknown discrete and distributed time-varying delays, and the proposed design method does not require a priori knowledge of the signs of the control gains.based on the backstepping technique, the adaptive fuzzy controller is constructed. the main contributions of the paper...
متن کاملXiangshun Li Control for Formation of Multi-Agent Systems with Time-varying Delays and Uncertainties based on LMI
In this paper, robust stability of vehicles formation system with structural uncertainties and time-varying delays are analyzed. The vehicles are modeled as general linear systems and the feedback control is based only on relative information about vehicle states in an undirected communication topology graph. Sufficient conditions are proposed for asymptotical stability of vehicles formations s...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Access
سال: 2019
ISSN: 2169-3536
DOI: 10.1109/access.2019.2942642