Robust stability analysis of formation control in local frames under time-varying delays and actuator faults

González, A. (Universidad de Zaragoza) ; Aranda, M. ; López-Nicolás, G. (Universidad de Zaragoza) ; Sagüés, C. (Universidad de Zaragoza)

Resumen: This paper investigates the robust stability of a multiagent system moving to a desired rigid formation in presence of unknown time-varying communication delays and actuator faults. Each agent uses relative position measurements to implement the proposed control method, which does not require common coordinate references. However, the presence of time delays in the measurements, which is inherent to the communication links between agents, has a negative impact in the control system performance leading, in some cases, to instability. Furthermore, the robust stability analysis becomes more complex if failures on actuators are taken into account. In addition, delays may be subject to time variations, depending on network load, availability of communication resources, dynamic routing protocols, or other environmental conditions. To cope with these problems, a sufficient condition based on Linear Matrix Inequalities (LMI) is provided to ensure the robust asymptotic convergence of the agents to the desired formation. This condition is valid for any arbitrarily fast time-varying delays and actuator faults, given a worst-case point-to-point delay. Finally, simulation results show the performance of the proposed approach.

Idioma: Inglés

DOI: 10.1016/j.jfranklin.2018.06.020

Año: 2018

Publicado en: JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 356, 2 (2018), 1131 - 1153
ISSN: 0016-0032

Factor impacto JCR: 3.653 (2018)

Categ. JCR: ENGINEERING, ELECTRICAL & ELECTRONIC rank: 63 / 265 = 0.238 (2018) - Q1 - T1
Categ. JCR: MATHEMATICS, INTERDISCIPLINARY APPLICATIONS rank: 7 / 104 = 0.067 (2018) - Q1 - T1
Categ. JCR: ENGINEERING, MULTIDISCIPLINARY rank: 14 / 88 = 0.159 (2018) - Q1 - T1
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 18 / 62 = 0.29 (2018) - Q2 - T1

Factor impacto SCIMAGO: 1.288 - Applied Mathematics (Q1) - Signal Processing (Q1) - Control and Systems Engineering (Q1) - Computer Networks and Communications (Q1)

Financiación: info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)