000099746 001__ 99746
000099746 005__ 20240104111813.0
000099746 0247_ $$2doi$$a10.1002/rnc.4954
000099746 0248_ $$2sideral$$a116243
000099746 037__ $$aART-2020-116243
000099746 041__ $$aeng
000099746 100__ $$0(orcid)0000-0002-4669-8374$$aGonzalez, Antonio$$uUniversidad de Zaragoza
000099746 245__ $$aWeighted predictor-feedback formation control in local frames under time-varying delays and switching topology
000099746 260__ $$c2020
000099746 5060_ $$aAccess copy available to the general public$$fUnrestricted
000099746 5203_ $$aThis article presents a novel control strategy based on predictor-feedback delay compensation for multiagent systems to reach a prescribed target formation under unknown but bounded communication delays and switching communication topology. Both communication delays and network topology can be subjected to arbitrarily-fast time variations. The key idea is to implement predictor-feedback strategies using only relative measurements between agents expressed in each local agent's frame, with the aim to counteract the negative effect of time delays. Nevertheless, due to the decentralized nature of the control, the presence of time-varying delays and switching communication topology, only partial delay compensation is possible. Despite this, we show that better performance can be achieved with our proposal with respect to nonpredictor control schemes by introducing a weighting factor for predictor-feedback terms in the control law. Sufficient conditions based on Linear Matrix Inequalities for robust stability are also provided, which allow to easily design the controller parameters in order to maximize the speed of convergence. Finally, simulation results are provided to show the effectiveness of the proposed approach.
000099746 536__ $$9info:eu-repo/grantAgreement/ES/MICINN/PGC2018-098719-B-I00$$9info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638
000099746 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000099746 590__ $$a4.406$$b2020
000099746 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b51 / 273 = 0.187$$c2020$$dQ1$$eT1
000099746 591__ $$aMATHEMATICS, APPLIED$$b3 / 265 = 0.011$$c2020$$dQ1$$eT1
000099746 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b19 / 63 = 0.302$$c2020$$dQ2$$eT1
000099746 592__ $$a1.361$$b2020
000099746 593__ $$aAerospace Engineering$$c2020$$dQ1
000099746 593__ $$aBiomedical Engineering$$c2020$$dQ1
000099746 593__ $$aElectrical and Electronic Engineering$$c2020$$dQ1
000099746 593__ $$aMechanical Engineering$$c2020$$dQ1
000099746 593__ $$aControl and Systems Engineering$$c2020$$dQ1
000099746 593__ $$aIndustrial and Manufacturing Engineering$$c2020$$dQ1
000099746 593__ $$aChemical Engineering (miscellaneous)$$c2020$$dQ1
000099746 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000099746 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza
000099746 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza
000099746 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza
000099746 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000099746 773__ $$g30, 8 (2020), 3484-3500$$pInt. j. robust nonlinear control$$tInternational journal of robust and nonlinear control$$x1049-8923
000099746 8564_ $$s2390914$$uhttps://zaguan.unizar.es/record/99746/files/texto_completo.pdf$$yPostprint
000099746 8564_ $$s2405139$$uhttps://zaguan.unizar.es/record/99746/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000099746 909CO $$ooai:zaguan.unizar.es:99746$$particulos$$pdriver
000099746 951__ $$a2024-01-04-11:03:42
000099746 980__ $$aARTICLE