000129849 001__ 129849
000129849 005__ 20240112163659.0
000129849 0247_ $$2doi$$a10.23919/ACC.2019.8814378
000129849 0248_ $$2sideral$$a114035
000129849 037__ $$aART-2019-114035
000129849 041__ $$aeng
000129849 100__ $$0(orcid)0000-0002-4669-8374$$aGonzález, Antonio$$uUniversidad de Zaragoza
000129849 245__ $$aFormation control synthesis in local frames under communication delays and switching topology: An LMI approach
000129849 260__ $$c2019
000129849 5060_ $$aAccess copy available to the general public$$fUnrestricted
000129849 5203_ $$aThis paper presents a formation control synthesis method for a multiagent system to reach a prescribed rigid formation under communication delays and time-varying switching communication topology. The proposed control scheme only requires the knowledge of relative measurements of some neighbor agents, expressed in each agent''s local frame, to be implemented. The presence of communication delays and switching topology are critical factors in the control design that could lead the system to slow convergence or even instability. To cope with this problem, we give sufficient conditions based on Linear Matrix Inequalities (LMI) and convex sum relaxation techniques which allow finding the control parameters that maximize the worst-case delay whilst keeping a minimum speed of convergence. Finally, simulation results are provided to show the effectiveness of the proposed approach.
000129849 536__ $$9info:eu-repo/grantAgreement/ES/DGA/T45-17R$$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R$$9info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638
000129849 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000129849 592__ $$a0.493$$b2019
000129849 593__ $$aElectrical and Electronic Engineering$$c2019
000129849 655_4 $$ainfo:eu-repo/semantics/conferenceObject$$vinfo:eu-repo/semantics/acceptedVersion
000129849 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza
000129849 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza
000129849 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza
000129849 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000129849 773__ $$gJuly (2019), 5328-5333$$pProc. Am. Control Conf.$$tProceedings of the American Control Conference$$x0743-1619
000129849 8564_ $$s2518732$$uhttps://zaguan.unizar.es/record/129849/files/texto_completo.pdf$$yPostprint
000129849 8564_ $$s3509262$$uhttps://zaguan.unizar.es/record/129849/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000129849 909CO $$ooai:zaguan.unizar.es:129849$$particulos$$pdriver
000129849 951__ $$a2024-01-12-14:08:16
000129849 980__ $$aARTICLE