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Second-order consensus algorithm with input constraints for swarm robots formation control | IEEE Conference Publication | IEEE Xplore

Second-order consensus algorithm with input constraints for swarm robots formation control


Abstract:

In this paper, a second-order consensus algorithm with input constraints was introduced. The condition of the algorithm for reaching consensus was given. Via Lyapnov stab...Show More

Abstract:

In this paper, a second-order consensus algorithm with input constraints was introduced. The condition of the algorithm for reaching consensus was given. Via Lyapnov stability criterion, the stability of the algorithm was proved. Based on this algorithm, a new control algorithm for swarm robots formation control was also proposed. Finally, from the simulation results of the above algorithms, it can be found that the algorithms with input constraints showed a better consensus performance than the algorithm without input constraints.
Date of Conference: 06-08 May 2015
Date Added to IEEE Xplore: 03 September 2015
ISBN Information:
Conference Location: Calabria, Italy

References

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