Contraction analysis of time-delayed communications and group cooperation

Author

Wang, Wei ; Slotine, Jean-Jacques E.

Author_Institution

Nonlinear Syst. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA

Volume

51

Issue

4

fYear

2006

fDate

4/1/2006 12:00:00 AM

Firstpage

712

Lastpage

717

Abstract

We study stability of interacting nonlinear systems with time-delayed communications, using contraction theory and a simplified wave variable design inspired by robotic teleoperation. We show that contraction is preserved through specific time-delayed feedback communications, and that this property is independent of the values of the delays. The approach is then applied to group cooperation with linear protocols, where it is shown that synchronization can be made robust to arbitrary time delays.

Keywords

delays; feedback; nonlinear control systems; stability; arbitrary time delays; contraction analysis; contraction theory; group cooperation; interacting nonlinear system stability; linear protocol; robotic teleoperation; simplified wave variable design; time-delayed feedback communications; Communication system control; Context; Delay effects; Feedback communications; Internet; Nonlinear systems; PD control; Protocols; Robustness; Stability; Communication delays; contraction; group agreement; group cooperation; synchronization;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2006.872761

Filename

1618853