Second-order consensus algorithm with input constraints for swarm robots formation control

@article{Chen2015SecondorderCA,
  title={Second-order consensus algorithm with input constraints for swarm robots formation control},
  author={Hao Chen and Quanjie Gao and Bin Lei and Liangcai Zeng},
  journal={2015 IEEE 19th International Conference on Computer Supported Cooperative Work in Design (CSCWD)},
  year={2015},
  pages={66-72}
}
In this paper, a second-order consensus algorithm with input constraints was introduced. The condition of the algorithm for reaching consensus was given. Via Lyapnov stability criterion, the stability of the algorithm was proved. Based on this algorithm, a new control algorithm for swarm robots formation control was also proposed. Finally, from the simulation results of the above algorithms, it can be found that the algorithms with input constraints showed a better consensus performance than… CONTINUE READING

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