Weighted predictor-feedback formation control in local frames under time-varying delays and switching topology

Gonzalez, Antonio (Universidad de Zaragoza) ; Aragüés, Rosario (Universidad de Zaragoza) ; López-Nicolás, Gonzalo (Universidad de Zaragoza) ; Sagüés, Carlos (Universidad de Zaragoza)

Resumen: 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.

Idioma: Inglés

DOI: 10.1002/rnc.4954

Año: 2020

Publicado en: International journal of robust and nonlinear control 30, 8 (2020), 3484-3500
ISSN: 1049-8923

Factor impacto JCR: 4.406 (2020)

Categ. JCR: ENGINEERING, ELECTRICAL & ELECTRONIC rank: 51 / 273 = 0.187 (2020) - Q1 - T1
Categ. JCR: MATHEMATICS, APPLIED rank: 3 / 265 = 0.011 (2020) - Q1 - T1
Categ. JCR: AUTOMATION & CONTROL SYSTEMS rank: 19 / 63 = 0.302 (2020) - Q2 - T1

Factor impacto SCIMAGO: 1.361 - Aerospace Engineering (Q1) - Biomedical Engineering (Q1) - Electrical and Electronic Engineering (Q1) - Mechanical Engineering (Q1) - Control and Systems Engineering (Q1) - Industrial and Manufacturing Engineering (Q1) - Chemical Engineering (miscellaneous) (Q1)

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.)