Consensus-Based Formation Control of Networked Nonholonomic Vehicles With Delayed Communications
Mohamed Maghenem, Antonio Lorı́a, Emmanuel Nuño, Elena Panteley
Abstract
For a network of nonholonomic vehicles communicating according to an undirected connected graph, a consensus-based formation control problem is solved via a smooth time-varying, proportional-derivative, δ-persistently-exciting, controller. It is assumed that the communication among agents is affected by time-varying, nondifferentiable, communication delays and uniform global asymptotic stability is demonstrated. This goes beyond the more-often encountered property of nonuniform convergence and, what is more, for the first time in the literature, a strict Lyapunov-Krasovskii functional is provided.
Topics & Concepts
Nonholonomic systemControl theory (sociology)Convergence (economics)Lyapunov functionComputer scienceController (irrigation)Exponential stabilityStrongly connected componentGraphProperty (philosophy)Control (management)MathematicsMobile robotRobotArtificial intelligenceTheoretical computer scienceAlgorithmPhysicsPhilosophyEconomicsNonlinear systemQuantum mechanicsEpistemologyAgronomyBiologyEconomic growthDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationUAV Applications and Optimization