Consensus Control for Heterogeneous Multi-Robot Formation Systems with Time-Delays

Abstract

Concerning the formation control problem of heterogeneous multi-robot systems with time-delays, a control algorithm based on the consensus theory is proposed. The formation control problem of heterogeneous multi-robot systems based upon leader-follower model is transformed into a stability problem by using the consensus theory. Then, by utilizing the Newton-Leibniz formula and the Lyapunov theorem, a sufficient condition of the formation control problem is presented. Finally, the correctness of the developed consensus control algorithm is verified by the simulation results.