Consensus Control Under Communication Delay in a Three-Robot System: Design and Experiments

A consensus-control protocol is designed and implemented here on a three-robot system arranged on a horizontal platform, in which a camera system is used to track robot positions, and a personal computer broadcasts commands to the robots based on this protocol via a Bluetooth connection, where such...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2016-03, Vol.24 (2), p.687-694
Main Authors: Wei Qiao, Sipahi, Rifat
Format: Article
Language:English
Subjects:
Consensus stability
Couplings
Delays
E-puck robots
Eigenvalues and eigenfunctions
Protocols
responsible eigenvalue
rightmost root analysis
Robot kinematics
Stability analysis
time delay
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Summary:A consensus-control protocol is designed and implemented here on a three-robot system arranged on a horizontal platform, in which a camera system is used to track robot positions, and a personal computer broadcasts commands to the robots based on this protocol via a Bluetooth connection, where such commands are affected by time delays. The design involves some salient features of this protocol based on a graph-based approach, an input-output linearization scheme, and addressing uncertainties in the control problem. By implementing this design on experiments, we show that consensus of the robots can be successfully achieved, and their speed of reaching consensus can be systematically improved. Experimental results also strongly agree with those obtained from nonlinear simulations.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2015.2458776