Paper Info
Title
Connectivity Preserving Formation Stabilization in an Obstacle-Cluttered Environment in the Presence of Time-Varying Communication Delays
Abstract
This technical article addresses the formation stabilization problem for multiagent systems (MASs) composed of dynamical agents moving within an obstacle-cluttered environment and sharing information via nonideal wireless communication networks. A novel distributed cooperative navigation function based control strategy is proposed, which drives the MAS to a desired formation without any collision while counteracting the presence of unavoidable communication impairments originated by the wireless network. By recasting the formation stabilization problem into a consensus one and by combining the Lyapunov stability theory with Halanay’s lemma, uniformly ultimately bounded stability of the whole delayed closed-loop system is proved. In the special case of an obstacle-free environment, our approach guarantees exponential stability of the closed-loop networked system. The stability analysis also provides an estimation of the delay upper bound and allows to evaluate the stability margins with respect to the latencies that can be observed in practical application scenarios. Theoretical derivations are verified through nontrivial simulations.
Year
DOI
Venue
2022
10.1109/TAC.2021.3119003
IEEE Transactions on Automatic Control
Keywords
DocType
Volume
Communication time-varying delays,distributed navigation function (NF) based control,formation control,Halanay lemma,Lyapunov theory,multiagent systems (MASs)
Journal
67
Issue
ISSN
Citations 
10
0018-9286
0
PageRank 
References 
Authors
0.34
26
4
Name
Order
Citations
PageRank
Savvas G. Loizou100.34
Dario Giuseppe Lui242.42
Alberto Petrillo3366.01
Stefania Santini424325.03