Predictor-feedback synthesis in coordinate-free formation control under time-varying delays

González, Antonio (Universidad de Zaragoza) ; Aragüés, Rosario (Universidad de Zaragoza) ; López-Nicolás, Gonzalo (Universidad de Zaragoza) ; Sagüés, Carlos (Universidad de Zaragoza)

Resumen: This paper investigates new coordinate-free formation control strategies of multi-agent systems to overcome the negative effects of time delays. To this end, we present a single predictor-feedback scheme to compensate the multiple communication delays, assumed to be unknown but bounded and arbitrarily-fast time-varying. Although delays cannot exactly be compensated due to time-varying delay mismatches, the trade-off between robustness and convergence speed can be notably improved if the control gain is suitably designed. Hence, with the objective of enlarging the time-varying delay interval for a given convergence speed, an LMI-based iterative algorithm is presented to solve the control gain synthesis.

Idioma: Inglés

DOI: 10.1016/j.automatica.2020.108811

Año: 2020

Publicado en: AUTOMATICA 113 (2020), 108811 1-10
ISSN: 0005-1098

Factor impacto JCR: 5.944 (2020)

Categ. JCR: ENGINEERING, ELECTRICAL & ELECTRONIC rank: 33 / 273 = 0.121 (2020) - Q1 - T1
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 10 / 63 = 0.159 (2020) - Q1 - T1

Factor impacto SCIMAGO: 3.132 - Control and Systems Engineering (Q1) - Electrical and Electronic Engineering (Q1)

Financiación: info:eu-repo/grantAgreement/ES/DGA/T45-17R
Financiación: info:eu-repo/grantAgreement/ES/MICINN/PGC2018-098719-B-I00
Financiación: info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638

Tipo y forma: Artículo (PostPrint)

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