Abstract:

Consensus problems of multirobot systems in which each robot communicates with the others over wireless networks are investigated. The multirobot systems can be modeled as a kind of networked control systems under the fixed communication topology conditions, and further regarded as the asynchronous dynamic systems constrained by the packet loss probability when considering the influence factors such as channel noise, uncertain short delay and packet loss. By constructing the Lyapunov function and using the linear matrix inequality (LMI) method, the sufficient condition of exponential stability for the systems is obtained. A controller is designed to achieve the motion consensus of multirobot systems. The effects of different exponential convergence rate on the convergence speed of multirobot systems are discussed. Subsequently, the correlative theoretical demonstrations and simulation verifications are given.