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Journal of Control Science and Engineering
Volume 2012, Article ID 150250, 12 pages
Research Article

Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems

Department of Mechanical Engineering, Dalhousie University, Halifax, NS, Canada B3J 2X4

Received 17 November 2011; Accepted 1 March 2012

Academic Editor: Peter X. Liu

Copyright © 2012 Long Sheng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A consensus-based formation control for a class of networked multiple mobile robots is investigated with a virtual leader approach. A novel distributed control algorithm is designed based on the Lyapunov method and linear matrix inequality (LMI) technique for time delay systems. A multiple Lyapunov Krasovskii functional candidate is proposed for investigating the sufficient conditions to linear control gain design for the system with constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.