Title :
Robust Stability of a Multi-Agent System Under Arbitrary and Time-Varying Communication Topologies and Communication Delays
Author :
Popov, Andrey ; Werner, Herbert
Author_Institution :
Scienlab Electron. Syst. GmbH, Bochum, Germany
Abstract :
This technical note considers formation control of a group of identical agents that can communicate with each other. A necessary and sufficient condition for robust stability in the case of arbitrary time-invariant communication topologies and sufficient conditions in the case of arbitrary time-varying topology and communication delays are derived, that reduce the stability analysis and controller design problems to analysis or synthesis, respectively, for a single agent.
Keywords :
control system synthesis; delay systems; multi-agent systems; robust control; time-varying systems; topology; arbitrary time-invariant communication topology; arbitrary time-varying communication topology; communication delay; controller design problem; formation control; identical agents; multiagent system; robust stability; stability analysis; Delay; Eigenvalues and eigenfunctions; Multiagent systems; Stability criteria; Time varying systems; Topology; Communication delay; formation control; multi-agent system; robust control; time-varying topology;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2012.2186094
