[1]LEI Ming,ZHOU Chao,ZHOU Shaolei,et al.Decentralized formation control of multiple mobile agents considering timevarying delay[J].CAAI Transactions on Intelligent Systems,2012,7(6):536-541.
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Decentralized formation control of multiple mobile agents considering timevarying delay

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 7 Number of periods: 2012 6 Page number: 536-541 Column: 学术论文—智能系统 Public date: 2012-12-25
Title:
Decentralized formation control of multiple mobile agents considering timevarying delay
Author(s):
LEI Ming;  ZHOU Chao;  ZHOU Shaolei;  ZHANG Wenguang
Department of Automatic Control, Navy Aeronautical Engineering Institute, Yantai 264001, China
Keywords:
timevarying delay;  multiple mobile agents;  formation control;  freeweight matrix;  consensus
CLC:
TP273
DOI:
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Abstract:
In consideration of the timevarying delay problem in the formation control of multiple mobile agents, we will first examine this area in the study. The defined formation framework, a decentralized formation control law with asymmetric timevarying delay is designed based on a consensus algorithm, which only uses the global velocity guidance and neighbor state feedback information systems. Secondly, under a fixed communication topology condition, the closedloop system state equation with timevarying delay is induced and a less conservative stability condition of the system is obtained using the improved method of freeweight matrix. Further, under the timevarying communication topology condition, stability condition of the system is also obtained by processing topology′s variation as a structured model uncertainty. Finally, a simulation example of six agents’ formation movement inplane proves the accuracy of the theory.
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