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: Article (PostPrint)
Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)
You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. You may not use the material for commercial purposes. If you remix, transform, or build upon the material, you may not distribute the modified material.
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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: Article (PostPrint)
Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)
You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. You may not use the material for commercial purposes. If you remix, transform, or build upon the material, you may not distribute the modified material. Exportado de SIDERAL (2024-01-04-11:03:27)
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Record created 2021-01-19, last modified 2024-01-04