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

Gonzalez, Antonio (Universidad de Zaragoza) ; Aragues, Rosario (Universidad de Zaragoza) ; Lopez-Nicolas, Gonzalo (Universidad de Zaragoza) ; Sagues, Carlos (Universidad de Zaragoza)

Resumen: his 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 men- tioning 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.

Idioma: Inglés

DOI: 10.1002/rnc.4225

Año: 2018

Publicado en: International journal of robust and nonlinear control 28, 14 (2018), 4121-4138
ISSN: 1049-8923

Factor impacto JCR: 3.953 (2018)

Categ. JCR: ENGINEERING, ELECTRICAL & ELECTRONIC rank: 56 / 265 = 0.211 (2018) - Q1 - T1
Categ. JCR: MATHEMATICS, APPLIED rank: 6 / 254 = 0.024 (2018) - Q1 - T1
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 17 / 62 = 0.274 (2018) - Q2 - T1

Factor impacto SCIMAGO: 1.716 - Aerospace Engineering (Q1) - Biomedical Engineering (Q1) - Electrical and Electronic Engineering (Q1) - Mechanical Engineering (Q1) - Control and Systems Engineering (Q1) - Industrial and Manufacturing Engineering (Q1) - Chemical Engineering (miscellaneous) (Q1)

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

Tipo y forma: Artículo (Versión definitiva)

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