Stability Analysis of Multi-robot System Based on Network Communication

Abstract

This paper investigated the cooperative consensus problem for multi-robot systems.The stability of the multi-robot system was analyzed with the presence of sampling,hold and time delays.A simple diagrammatic stability criterion was presented to guarantee that the cooperative control of multi-robot system could achieve consensus.Based on this criterion,the system stability region was derived when the time delay was equal to a sampling period.Finally,simulation examples of vehicle formations were provided to show the validity of the diagrammatic stability criterion.