NDLI: Predictor-based consensus control of a multi-agent system with time-delays

Content Provider	IEEE Xplore Digital Library
Author	Yiran Cao Oguchi, T. Verhoeckx, P.B. Nijmeijer, H.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands (Verhoeckx, P.B.; Nijmeijer, H.) \|\| Dept. of Mech. Eng., Tokyo Metropolitan Univ., Hachioji, Japan (Yiran Cao; Oguchi, T.)
Abstract	In this paper, we consider the consensus control problem for a multi-agent system (MAS) consisting of integrator dynamics with input and output time delays. First we investigate a consensus condition for the MAS with a linear controller without any delay compensation. After that, we propose a consensus controller with a state predictor to decrease the effect of time delay. The consensus condition for this controller is derived and the advantages are discussed. Finally we show an example of solving the consensus control problem for two-wheel mobile robots which have feedback loops that pass through a computer network with time delays. By comparing the two different controllers, we show the advantages and disadvantages of each controller.
Starting Page	113
Ending Page	118
File Size	422433
Page Count	6
File Format	PDF
e-ISBN	9781479977871
DOI	10.1109/CCA.2015.7320619
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-21
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delay effects Robot kinematics Mobile robots Delays Couplings Synchronization
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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