Region-based flocking control for networked robotic systems with communication delays

摘要

Based on a self-tuning adaptive control gain technique, this paper proposes a novel adaptive controller to implement the region-based flocking control for the networked robotic systems with communication delays. It is shown that under the proposed control strategy, all the robots can always reach into the objective region, realize velocity matching and ensure collision avoidance, if the network topology graph is connected under certain initial position conditions. Some simulation results are provided to illustrate the effectiveness and robustness of the proposed novel controller. (C) 2019 European Control Association. Published by Elsevier Ltd. All rights reserved.