Original scientific paper
https://doi.org/10.7305/automatika.2016.10.1012
Control for Formation of Multi-Agent Systems with Time-varying Delays and Uncertainties based on LMI
Xiangshun Li
; School of Automation, Wuhan University of Technology, 205 Luoshi Road, 430070, Wuhan, China
Abstract
In this paper, robust stability of vehicles formation system with structural uncertainties and time-varying delays are analyzed. The vehicles are modeled as general linear systems and the feedback control is based only on relative information about vehicle states in an undirected communication topology graph. Sufficient conditions are proposed for asymptotical stability of vehicles formations system. Both system model without uncertainties and system model with uncertainties are considered. Stability and robust stability criteria of vehicles formations system are obtained in terms of linear inequality matrix and free-weighting matrix method. Numerical examples are given to illustrate the effectiveness of the results.
Keywords
Formation stability; Decentralized control; Time-varying delays; Linear matrix inequality; Robust stability
Hrčak ID:
179439
URI
Publication date:
25.1.2017.
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