Delayed and Switched Control of Formations on a Line Segment: Delays and Switches Do Not Matter

被引：18
作者：
Aleksandrov, Alexander [1 ,2 ]
Fradkov, Alexander [1 ,3 ,4 ]
Semenov, Aleksandr [2 ]
机构：
[1] St Petersburg State Univ, St Petersburg 199034, Russia
[2] ITMO Univ, St Petersburg 197101, Russia
[3] Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310002, Peoples R China
[4] Russian Acad Sci, Inst Problems Mech Engn, St Petersburg 199178, Russia
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2020年 / 65卷 / 02期
基金：
俄罗斯基础研究基金会;
关键词：
Delays; Switches; Protocols; Stability analysis; Convergence; Resource management; Asymptotic stability; delay; formation control; multiagent systems; positive system; switching signal; AGENTS; STABILITY; SYSTEMS; COORDINATION;
D O I：
10.1109/TAC.2019.2918995
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The agents' deployment over a line segment under protocols with communication delays and switching is studied. It is assumed that no information about the value of the communication delay and no information about switching policy in the communication graph is available. It is shown that neither delay values nor switching policy in a natural class may influence convergence of the agent states to the equidistant distribution over the line segment. Similar result is obtained for deployment over the circle. The theoretical results are illustrated by simulations. The proofs relay on both well-known and recent approaches to the stability analysis of positive systems.
引用
收藏
页码：794 / 800
页数：7
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