Delayed static output feedback control of a network of double integrator agents

Abstract

This paper considers a network of vehicles moving in a two dimensional plane. The overall network, described by a collection of double integrator dynamics, is controlled by a novel distributed static output feedback methodology to maintain a desired formation. The distributed control architecture stabilizes the network using static output feedback of position information only, by exploiting delays in communication of the relative information. An optimization algorithm, based on Linear Matrix Inequalities together with the DIRECT search algorithm, is used to synthesize the controller gains and the delay.

Consensus control laws with guaranteed performance in presence of fixed delays

“…The LQR framework automatically provides phase margin guarantees, which are important to this methodology. • Approach 2: The delay τ is explicitly accounted for when designing the gains K to ensure a sub optimal level of performance with respect to the (LQR-like) cost in (10). Novel linear matrix inequality conditions are derived.…”

“…In [9] the performance of consensus algorithms in terms of providing a fast convergence rate involving communication delays, was studied for second order multi agent systems. In [10] consensus problem was studied based on using position information and delayed relative position information only.…”

Synchronization criteria of chaotic Lur׳e systems with delayed feedback PD control

“…It is noted that time delay is an inherent feature of many physical processes, such as chemical processes, nuclear reactors, and biological systems, and may lead to instability or significantly deteriorate the performance of the corresponding closed-loop systems [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22]. Hence, there are many researchers devote their effort on studying the delay effect on master-slave synchronization.…”

A Model Predictive Control Approach to AUVs Motion Coordination

“…The cooperative control of a team of distributed agents with decoupled nonlinear dynamics and exchanging delayed information has been addressed in a number of works, notably, [2,6,7,10,11,16,19,22,23,29,32]. The last reference is a chapter of the recently published book edited by Lunze referred to in Sect.…”