This paper investigates the formation control for noise-tolerance consensus of multi-robotic networks and the mean square consensus condition. Firstly, the multi-robot model is expressed by applying a coordinate transformation based on the Euler-Lagrange equation. Compared with recent works, the control scheme presented in this work can indirectly obtain the evolution trend of position and velocity information of the robot. Besides, the noise and communication delay are involved in the formation control protocol. Secondly, the sufficient conditions of mean square consensus for formation control in multi-robotic networks with communication delay under noisy environments are obtained by using linear matrix inequality schemes. Finally, the numerical simulations are presented and submitted to demonstrate the correctness of the obtained results.

中文翻译：

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多机器人网络的噪声容忍共识形成控制

本文研究了多机器人网络噪声容忍共识的形成控制和均方共识条件。首先，通过应用基于欧拉-拉格朗日方程的坐标变换来表示多机器人模型。与最近的工作相比，本工作提出的控制方案可以间接获得机器人的位置和速度信息的演变趋势。此外，编队控制协议还涉及噪声和通信延迟。其次，利用线性矩阵不等式得到了噪声环境下具有通信延迟的多机器人网络编队控制均方一致的充分条件。最后，给出并提交了数值模拟，以证明所得结果的正确性。