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jocee 2022, 1(1): 85-97 |
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Gharib B, Mahboobi Esfanjani R. Distributed Control of Multi-Robot Systems with Communication Delay for Cooperative Source Seeking. jocee 2022; 1 (1) :85-97
URL: http://jocee.kntu.ac.ir/article-1-58-en.html
URL: http://jocee.kntu.ac.ir/article-1-58-en.html
1- Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran
Abstract: (1046 Views)
This paper investigates the problem of cooperative source seeking by networked multi-agent systems subject to communication time-delay; where the robots of the group are equipped with the sensors that measure the field concentration. First, a novel distributed control algorithm is proposed based on the estimation of the field gradient to move the agents along the gradient direction toward the source. Sufficient conditions are derived in terms of linear matrix inequalities to tune the parameters of the control law to assure the convergence of the team to a neighborhood of the source in spite of the estimation errors and communication time-delay. A cooperative estimation scheme is developed to obtain the gradient of the formation center by the delayed information. Finally, simulation results in Matlab® and Webots® are presented to demonstrate the efficiency and applicability of the suggested theory.
Type of Article: Research paper |
Subject:
General
Received: 2022/04/9 | Accepted: 2022/06/30 | Published: 2022/07/28
Received: 2022/04/9 | Accepted: 2022/06/30 | Published: 2022/07/28
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