Formation control of second-order dynamic agents with heterogeneous communication delays

Author

Cheng-Lin, Liu ; Yu-Ping, Tian

Author_Institution

Sch. of Autom., Southeast Univ., Nanjing

fYear

2008

fDate

16-18 July 2008

Firstpage

536

Lastpage

540

Abstract

In this paper, the formation control is investigated for a network of second-order dynamic agents with heterogeneous communication delays. The desired stationary formation is achieved by introducing diverse self-delay for each agent. In addition, a delay-dependent formation control algorithm is proposed to achieve the desired moving formation. Based on the frequency-domain analysis and matrix theory, sufficient conditions are obtained for the multi-agent systems asymptotically converging to desired stationary and moving formation respectively. Simulation results illustrate the correctness of the results.

Keywords

delays; frequency-domain analysis; matrix algebra; mobile robots; multi-robot systems; position control; delay-dependent formation control algorithm; diverse self-delay; formation control; heterogeneous communication delays; multiagent systems; second-order dynamic agents; Added delay; Automatic control; Automation; Communication system control; Control systems; Electronic mail; Frequency; Multiagent systems; Propagation delay; Vehicle dynamics; Communication delay; Formation; Multi-agent systems; Self-delay;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4605366

Filename

4605366