Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems

Table 1

Control gains.

Control Gains and JIC	Robot 1	Robot 2	Robot 3
𝑘𝑑	diag{20}	diag{15}	diag{25}
𝑘𝑝	diag{18}	diag{10}	diag{15}
𝑘12	diag{0.8}	diag{0.8}
𝑘13	diag{0.5}		diag{0.5}
𝑘23	diag{0.2}	diag{0.2}
JIC	(2.5, 2.5)	(−2, −2)	(1.5, 1.5)