The Application of Robust Extended H∞ Filter and Consensus Control to The Multi-robot Motion Systems

Abstract

The development of robots is increasingly advanced now, especially for multi-robots (a group of single robots) that are capable of carrying out cooperative tasks given. With a lot of research on robots, we consider an approach that can estimate the next motion, namely the Robust Extended $H_{\infty }$ filter method, which is one of the development methods of data assimilation. Data assimilation is an estimation method that requires a system model and measurement model of the system. Besides, to approach the motion of robots, the implementation of consensus control was carried out in this study. Consensus can be interpreted as an agreement, where multi-robots were observed to be controlled to meet at a point of an agreement. The results of this study are very small errors generated by estimation and consensus control methods that work well on the system.