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

• Published in: International 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
• Language: English
• 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

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...