98178 20240104111813.0 doi 10.1016/j.automatica.2020.108811 sideral 116196 ART-2020-116196 eng González, Antonio Universidad de Zaragoza (orcid)0000-0002-4669-8374 Predictor-feedback synthesis in coordinate-free formation control under time-varying delays 2020 Access copy available to the general public Unrestricted 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. info:eu-repo/grantAgreement/ES/DGA/T45-17R info:eu-repo/grantAgreement/ES/MICINN/PGC2018-098719-B-I00 info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638 info:eu-repo/semantics/openAccess by-nc-nd http://creativecommons.org/licenses/by-nc-nd/3.0/es/ 5.944 2020 ENGINEERING, ELECTRICAL & ELECTRONIC 33 / 273 = 0.121 2020 Q1 T1 AUTOMATION & CONTROL SYSTEMS 10 / 63 = 0.159 2020 Q1 T1 3.132 2020 Control and Systems Engineering 2020 Q1 Electrical and Electronic Engineering 2020 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Aragüés, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 López-Nicolás, Gonzalo Universidad de Zaragoza (orcid)0000-0001-9347-5969 Sagüés, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 113 (2020), 108811 1-10 Automatica AUTOMATICA 0005-1098 816988 http://zaguan.unizar.es/record/98178/files/texto_completo.pdf Postprint 2526568 http://zaguan.unizar.es/record/98178/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:98178 articulos driver 2024-01-04-11:03:27 ARTICLE