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A consensus-based formation control for a class of networked multiple mobile robots is investigated with a virtual leader approach. A novel distributed control algorithm is designed based on the Lyapunov method and linear matrix inequality (LMI) technique for time delay systems. A multiple Lyapunov Krasovskii functional candidate is proposed for investigating the sufficient conditions to linear control gain design for the system with constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.
Sheng et al. (Sun,) studied this question.
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