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Time-delay Tolerant Control of an Omnidirectional Multi-agent System for Transport Operations

Abstract : This paper proposes a solution regarding the general consensus of a multi-agent time-delay system in order to achieve interactive and transport operations. The multi-agent system consists of a set of omnidirectional mobile robots equipped with vision based systems and interactive tools. It is well known that the vision-based systems and the communication between agents produce time-delays, causing stability issues for consensus and formation control. The present work deals with a high precision consensus by means of a time-delay tolerant control law. First, the mathematical model of every agent is presented. Then, this dynamic model is extended to the set of robots conforming the multi-agent system. After that, a control law, consisting of a time-delay tolerant strategy allows orientation and position consensus. The formulation of a simple algorithm for orientation and position formations for the set of robots is presented. Finally,simulation results validate the proposed control strategy and compare the results when time-delay is present in the systemor not for an object transport scenario.
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Contributor : Islam Boussaada <>
Submitted on : Thursday, January 3, 2019 - 4:21:31 PM
Last modification on : Wednesday, September 16, 2020 - 5:35:52 PM


  • HAL Id : hal-01969082, version 1


J. Alvarez-Munoz, J. Escareño, F. Mendez-Barrios, Islam Boussaada, I. Niculescu, et al.. Time-delay Tolerant Control of an Omnidirectional Multi-agent System for Transport Operations. ICSTCC 2018 - 22nd International Conference on System Theory, Control and Computing, Oct 2018, Sinaia, Romania. ⟨hal-01969082⟩



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