A synchronous approach to trajectory tracking in multirobot formation control with time delays

Author

Huihui Liang ; Can Wang ; Haoyao Chen ; Xinyu Wu

Author_Institution

Guangdong Provincial Key Lab. of Robot. & Intell. Syst., Shenzhen Inst. of Adv. Technol., Shenzhen, China

fYear

2013

fDate

26-28 Aug. 2013

Firstpage

671

Lastpage

676

Abstract

This paper presents a synchronization control strategy for multirobot formation with time delays. Firstly, a synchronization error is defined with consideration of communication delays. Secondly, a decentralized synchronous trajectory tracking controller is developed. It is proven that this synchronous controller guarantees both position and synchronization errors to converge to zero. Finally, simulations are performed in formation-switching tasks. The results demonstrate the effectiveness of the proposed synchronous formation control approach.

Keywords

decentralised control; delay systems; mobile robots; multi-robot systems; synchronisation; trajectory control; communication delays; decentralized synchronous trajectory tracking controller; formation-switching tasks; multirobot formation control; position errors; synchronization error; synchronization formation control strategy; synchronous approach; time delays; Delay effects; Delays; Mobile robots; Robot kinematics; Synchronization; Trajectory; Synchronization; multirobot formation; time delays;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2013 IEEE International Conference on

Conference_Location

Yinchuan

Type

conf

DOI

10.1109/ICInfA.2013.6720380

Filename

6720380