Control and stability analysis of networked mobile robots under time-delays and uncertainty
Yiwei Feng, Yuanbo Yang · 2018
This paper deals with the description of the control strategy of Networked Mobile Robots Systems(NMRSs). It is seen that all the features of the NMRSs such as time-varying delay and uncertain transition rate matrix play important roles in the system analysis and synthesis of finite-time stability. Though time-varying delay and uncertainty existing at the same time, two conditions checking its robust finite-time stability are proposed by a mode-dependent parameter approach, which are different from some existing methods. Then the sufficient conditions for the existence of the state-feedback controller are provided based on Linear Matrix Inequality (LMIs). Finally, numerical examples are used to demonstrate the effectiveness and superiority of the proposed methods.