Title

Cooperative Control Design And Stability Analysis For Multi-Agent Systems With Communication Delays

Abstract

In this paper, the cooperative control problem in the presence of communication time delays is addressed for a broad class of multi-input-multi- output dynamical systems in the canonical form with arbitrary relative degrees. A new sampled-data predictive cooperative control is proposed by only using the delayed output feedback information and a set of less restrictive conditions on the connectivity of time varying sensor/communication networks are established. No fixed leader or time invariant sensor/communication networks are assumed. In particular, through the elaborated switching between the decoupled control and the proposed predictive cooperative control, the convergence of the overall system is rigorously proved under a mild condition on the choice of sampling period. Simulation results on the cooperative consensus for a group of mobile robots are provided to illustrate the effectiveness of the proposed approach. © 2006 IEEE.

Publication Date

12-27-2006

Publication Title

Proceedings - IEEE International Conference on Robotics and Automation

Volume

2006

Number of Pages

970-975

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/ROBOT.2006.1641835

Socpus ID

33845612807 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/33845612807

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