Coordinated control of mobile robots with delay compensation based on synchronization

Abstract

This chapter considers a consensus control problem for two-wheel mobile robots with input time delay. To solve the problem, an anticipating synchronization-based state predictor is applied to each robot. First, we propose a consensus controller with an angle predictor to compensate the effect of time delay in order to apply feedback linearisation. Then, a consensus condition for this controller is derived and investigated. Extending this idea, a controller with a full state predictor is given and a sufficient condition for consensus is provided. Finally, an example of formation control using the proposed controller for a group of two-wheel mobile robots is given to illustrate the usefulness of the proposed control scheme and the validity of the derived condition.