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

被引：9

作者：

Gonzalez, Antonio ^{[1
]}

Aragues, Rosario ^{[1
]}

Lopez-Nicolas, Gonzalo ^{[1
]}

Sagues, Carlos ^{[1
]}

机构：

[1] Univ Zaragoza, Inst Invest Ingn Aragon, Maria de Luna 1, Zaragoza 50018, Spain

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2018年 / 28卷 / 14期

关键词：

communication delay; formation control; multiagent systems; stability analysis; VARYING FORMATION CONTROL; UNMANNED AERIAL VEHICLES; CONTAINMENT CONTROL; SYSTEMS; STABILIZATION; CONSENSUS;

D O I：

10.1002/rnc.4225

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：4121 / 4138

页数：18

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