On the trajectory tracking and coordination of multi-robot systems with communication delay

Yassine Bouteraa (1, 2) , Gérard Poisson (3) , Jawhar Ghommam (2) , Nabil Derbel (2)

1 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
2 ICOS - Intelligent Control, design & Optimization of complex Systems
3 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]

We develop new control approach to position synchronization of lagrangian systems based on emergent consenus algorithms. The proposed control approach works to accomplish multi-robot systems synchronization. The control strategy is to synchronize the angular position and the velocity of each robot in the group. The cooperative strategy only requires local neighbor-to-neighbor information exchange between systems and does not assume the existence of an explicit leader in the team. A combination of the lyapunov-based techniques and graph theory have been used to establish the multi-robot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time delays problem in the cooperative network communication, the suggested synchronization control law is shown to synchronize multiple robots as well as to track given trajectory, taking into account the presence of the time delay. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem.

Domaines: Automatique / Robotique

Yassine Bouteraa, Gérard Poisson, Jawhar Ghommam, Nabil Derbel. On the trajectory tracking and coordination of multi-robot systems with communication delay. International Multi-Conference on Systems, Signals and Devices (SSD), 2011 8th, Mar 2011, Sousse, Tunisia. pp.1-6, ⟨10.1109/SSD.2011.5986782⟩. ⟨hal-00647591⟩