Application of Multi-agents Consensus to Robot Formation Control
Wei Ming Yan · Fire Control and Command Control · 2010
The consensus problem in directed networks of multi-agents under fixed topology is studied.A class of cooperative controller is applied to consensus seeking,moreover,the sufficient and necessary condition for the multi-agents under fixed networks topology to achieve global asymptotically is proved out.Considering the time-delay problems during the communicaton between multi-agents,a tight upper bound on the maximum fixed time-delay is proposed.Based on the consensus concept,formation control for multiple robots is studied.Simulation results show the validation of the method.