Predictor-Based Stabilization of Multiple Differential-wheeled Robots under Measurement Delays: Controller Gain Design for Fast Consensus

Abstract

Achieving fast consensus in a network of differential-wheeled robots is challenging especially when robots' states are not available instantaneously for measurements but only with delays, as seen in remote control applications. In this manuscript, we present how robots' controller gains can be tuned and then tailored with previously established observers/predictors in order for the robots to achieve fast consensus. Analytical results as well as time simulations are provided, and compared with previous work.