Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 67, Issue 10, Pages 5525-5532Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2021.3119003
Keywords
Delays; Navigation; Task analysis; Multi-agent systems; Communication networks; Synchronization; Protocols; Communication time-varying delays; distributed navigation function (NF) based control; formation control; Halanay lemma; Lyapunov theory; multiagent systems (MASs)
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This article addresses the formation stabilization problem for multiagent systems in obstacle-cluttered environments with nonideal wireless communication. A novel control strategy is proposed to drive the systems to desired formations while counteracting communication impairments. The stability of the system is proved using consensus problem, Lyapunov stability theory, and Halanay's lemma.
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.
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