doi:10.1016/j.automatica.2020.108811engGonzález, AntonioAragüés, RosarioLópez-Nicolás, GonzaloSagüés, CarlosPredictor-feedback synthesis in coordinate-free formation control under time-varying delaysART-2020-116196This 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.2020http://zaguan.unizar.es/record/9817810.1016/j.automatica.2020.108811http://zaguan.unizar.es/record/98178oai:zaguan.unizar.es:98178info:eu-repo/grantAgreement/ES/DGA/T45-17Rinfo:eu-repo/grantAgreement/ES/MICINN/PGC2018-098719-B-I00info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638AUTOMATICA 113 (2020), 108811 1-10by-nc-ndhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccess