99746 20240104111813.0 doi 10.1002/rnc.4954 sideral 116243 ART-2020-116243 eng Gonzalez, Antonio Universidad de Zaragoza (orcid)0000-0002-4669-8374 Weighted predictor-feedback formation control in local frames under time-varying delays and switching topology 2020 Access copy available to the general public Unrestricted This 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. 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 All rights reserved http://www.europeana.eu/rights/rr-f/ 4.406 2020 ENGINEERING, ELECTRICAL & ELECTRONIC 51 / 273 = 0.187 2020 Q1 T1 MATHEMATICS, APPLIED 3 / 265 = 0.011 2020 Q1 T1 AUTOMATION & CONTROL SYSTEMS 19 / 63 = 0.302 2020 Q2 T1 1.361 2020 Aerospace Engineering 2020 Q1 Biomedical Engineering 2020 Q1 Electrical and Electronic Engineering 2020 Q1 Mechanical Engineering 2020 Q1 Control and Systems Engineering 2020 Q1 Industrial and Manufacturing Engineering 2020 Q1 Chemical Engineering (miscellaneous) 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. 30, 8 (2020), 3484-3500 Int. j. robust nonlinear control International journal of robust and nonlinear control 1049-8923 2390914 http://zaguan.unizar.es/record/99746/files/texto_completo.pdf Postprint 2405139 http://zaguan.unizar.es/record/99746/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:99746 articulos driver 2024-01-04-11:03:42 ARTICLE