Fixed-Time Formation Control of Multi-Robot Systems: Design and Experiments

Chunyan Wang, Ishak Hilton Pujantoro Tnunay, Zongyu Zuo, Barry Lennox, Zhengtao Ding

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    Abstract

    Time delays exist in network-connected systems. Especially for vision-based multi-robot systems, time delays are diverse and complicated due to the communication network, camera latency, image processing, etc. At the same time, many tasks, such as searching and rescue, have timing requirement.
    This paper focuses on fixed-time formation control of multirobot systems subject to delay constraints. First, predictorbased state transformation is employed for each robot to deal with the input delay and the uncertain terms remained in the transformed systems are carefully considered. Then, a couple of
    nonlinear fixed-time formation protocols are proposed for the multi-robot systems with respectively undirected and directed topology, and the corresponding settling time is derived by using the Lyapunov functions. In particular, the upper-bound estimation of the formation settling time is explicitly given irrelevant to the initial conditions. Finally, the protocols are
    validated through a numerical simulation example and then implemented on an E-puck robots platform. Both simulation and experimental results demonstrate the effectiveness of the proposed formation protocols.
    Original languageEnglish
    JournalIEEE Transactions on Industrial Electronics
    Early online date28 Sept 2018
    DOIs
    Publication statusPublished - 2018

    Keywords

    • Consensus control
    • formation control
    • multirobot systems
    • fixed-time formation
    • input delay

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