doi:10.1002/rnc.4225engGonzalez, AntonioAragues, RosarioLopez-Nicolas, GonzaloSagues, CarlosStability analysis of nonholonomic multiagent coordinate-free formation control subject to communication delaysART-2018-106898his 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.2018http://zaguan.unizar.es/record/13030310.1002/rnc.4225http://zaguan.unizar.es/record/130303oai:zaguan.unizar.es:130303info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-RInternational journal of robust and nonlinear control 28, 14 (2018), 4121-4138All rights reservedhttp://www.europeana.eu/rights/rr-f/info:eu-repo/semantics/closedAccess