A Novel F-Consensus Protocol and Its Application on Multiple WMRs Formation
Jun Yan Zhao, Haiyang Cheng, Shuai Liu · 2019
Consensus theory is widely applied to multi-agent systems coordination with various extended research results. Unfortunately, in engineering applications, the desired relationships of agents are widely time-varying even nonlinear, however the original consensus problem which, describes relationships between agents with only minus operation, can not describe general formation problems of MASs. To solve this problem, a definition of F-Consensus is presented in this note to describe general time-varying formation problems of MASs. Moreover, a guarding mission formation control of multiple Wheeled Mobile Robots with consensus protocol designing is presented as an example. Both simulations and experiments are presented to verify the effectiveness of presented control method for a type of nonlinear formations. The simulation and experiment results show that, the proposed method solves the time-varying nonlinear formation of multiple WMRs effectively.