Stability analysis of nonholonomic multiagent coordinate-free formation control subject to communication delays

Autores

Gonzalo, A; Aragues, R; Lopez-Nicolas, G; Sagues, C

Revista

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL

Año: 2018 Volumen: 28 (14) Páginas: 4121-4138

Editor:

WILEY

DOI:

10.1002/rnc.4225

Resumen

This paper investigates the convergence of nonholonomic multiagent coordinate-free formation control to a prescribed target formation subject to communication delays by means of Lyapunov-Krasovskii approach and smooth state-feedback control laws. As a result, an iterative algorithm based on linear matrix inequalities is provided to obtain the worst-case point-to-point delay under which the multiagent system is guaranteed to be stable. It is worth mentioning that: (i) the given algorithm holds for any connected communication topology and (ii) the formation control is coordinate-free, that is, a common frame is not required to be shared between agents. The effectiveness of the given method is illustrated through simulation results.

Palabras clave

communication ; delay ; formation ; control ; multiagent ; systems ; stability ; analysis

Afiliación

Gonzalez, A (Reprint Author), Univ Zaragoza, Inst Invest Ingn Aragon, Maria de Luna 1, Zaragoza 50018, Spain.
Gonzalez, Antonio; Aragues, Rosario; Lopez-Nicolas, Gonzalo; Sagues, Carlos, Univ Zaragoza, Inst Invest Ingn Aragon, Maria de Luna 1, Zaragoza 50018, Spain.