Stability analysis of nonholonomic multiagent coordinate‐free formation control subject to communication delays

Summary This paper investigates the convergence of nonholonomic multiagent coordinate‐free formation control to a prescribed target formation subject to communication delays by means of Lyapunov‐Krasovskii approach and smooth state‐feedback control laws. As a result, an iterative algorithm based on...

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Bibliographic Details
Published inInternational journal of robust and nonlinear control Vol. 28; no. 14; pp. 4121 - 4138
Main Authors González, Antonio, Aragüés, Rosario, López‐Nicolás, Gonzalo, Sagüés, Carlos
Format Journal Article
LanguageEnglish
Published Bognor Regis Wiley Subscription Services, Inc 25.09.2018
Subjects
Communication
communication delay
Computer simulation
Control stability
Feedback control
formation control
Iterative algorithms
Linear matrix inequalities
Mathematical analysis
Matrix methods
Multiagent systems
Stability analysis
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Summary:Summary This paper investigates the convergence of nonholonomic multiagent coordinate‐free formation control to a prescribed target formation subject to communication delays by means of Lyapunov‐Krasovskii approach and smooth state‐feedback control laws. As a result, an iterative algorithm based on linear matrix inequalities is provided to obtain the worst‐case point‐to‐point delay under which the multiagent system is guaranteed to be stable. It is worth mentioning that: (i) the given algorithm holds for any connected communication topology and (ii) the formation control is coordinate‐free, that is, a common frame is not required to be shared between agents. The effectiveness of the given method is illustrated through simulation results.
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content type line 14
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.4225