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Margun A. A. Fast decentralized control for uniform distribution of mobile robots
https://doi.org/10.17586/0021-3454-2025-68-5-406-416
Abstract
The problem of synthesizing a fast decentralized control algorithm for uniform distribution of a group of mobile robots making up a multi-agent system, over a given straight line segment is considered. The aim of the study is to synthesize a group finite control algorithm to achieve distributed consensus and subsequently test it experimentally. The method used is based on the homogeneity theory and the implicit Lyapunov function method. The stability criteria for a multi-agent system are specified as a solution to a system of linear matrix inequalities. Unlike the existing method, the proposed approach allows weakening the stability criteria, simplifying the setup and application of the algorithm, as well as effectively analyzing the system dynamics and guaranteeing consensus in a finite time. The theoretical results are experimentally confirmed using an IP camera and 4 wheeled robots. The experiments demonstrated high efficiency of the proposed approach, which confirms its applicability to control problems in real conditions.
Keywords
finite control,
group control,
multi-agent systems,
distributed consensus,
homogeneous systems,
wheeled robots
Supporting agencies: The study was carried out with the financial support of the Ministry of Science and Higher Education of the Russian Federation (project no. FSER-2025-0002)
About the Authors
D. A. Galkina
ITMO University
Russian Federation
Russian Federation
Daria A. Galkina — Post-Graduate Student, Faculty of Control Systems and Robotics
St. Petersburg
K. A. Zimenko
ITMO University
Russian Federation
Russian Federation
Konstantin A. Zimenko — PhD, Faculty of Control Systems and Robotics; Associate Professor
St. Petersburg
D. E. Konovalov
ITMO University
Russian Federation
Russian Federation
Dmitry E. Konovalov — Post-Graduate Student, Faculty of Control Systems and Robotics
St. Petersburg
A. A. Margun
ITMO University
Russian Federation
Russian Federation
Alexey A. Margun — PhD, Faculty of Control Systems and Robotics; Associate Professor
St. Petersburg
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Review
For citations:
Galkina D.A., Zimenko K.A., Konovalov D.E., Margun A.A. Margun A. A. Fast decentralized control for uniform distribution of mobile robots. Journal of Instrument Engineering. 2025;68(5):406-416. (In Russ.) https://doi.org/10.17586/0021-3454-2025-68-5-406-416
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