Computer Engineering and Applications ›› 2018, Vol. 54 ›› Issue (12): 258-263.

### Formation control of heterogeneous multi-robot systems with communication time-delays

JIA Xiao, ZHANG Guoliang, XU Jun, DU Boyang, LIN Zhilin

1. Teaching and Research Section 301, Rocket Force University of Engineering, Xi’an 710025, China
• Online:2018-06-15 Published:2018-07-03

### 异构多机器人编队相互通信时延精确控制

1. 火箭军工程大学 301教研室，西安 710025

Abstract: Formation control is a key problem in the field of multi-robot cooperative control. Considering the complexity of the practical environment, the research of formation control for heterogeneous multi-robot systems is more significance in engineering. Furthermore, when heterogeneous multi-robot systems exist time-delays, the consensus analysis of the different order robots is more difficult. Concerning the above problems, a formation control algorithm for heterogeneous multi-robot systems based on the consensus theory is proposed. Considering two cases of the zero time-delay and the fixed time-delay, the formation control problem of heterogeneous multi-robot systems based upon leader-following model is transformed into a stability problem by using the consensus theory. A necessary and sufficient condition for the formation control problem is obtained by matrix analysis and Routh-Hurwitz theorems. In addition, a Lyapunov-Razumikhin function is constructed. By untilizing the Newton-Leibniz formula and the Lyapunov theorem, the sufficient condition for formation control of fixed time-delay systems is presented. Simulation results show that this consensus algorithm can make the heterogeneous multi-robot system with communication time-delays realize formation precise control.