Consensus Control of Two Wheeled Mobile Robots with Time Delay

Abstract

This paper focuses on achieving consensus control for a group of two wheeled mobile robots subjected to time delay. Multi agent systems are affected by way of non-convergence due to delays in communication and data processing. Based on algebraic graph theory, a condition for the maximum limit of input delay that can be tolerated in achieving consensus is derived and proved that consensus convergence is independent of communication delay. Theoretical results are supported by applying the consensus control to synchronize the movements of a network of two wheeled mobile robots, each of which is modeled by single integrator dynamics, and the results are validated through simulation.