We study the leader-following problem for linear stochastic multi-agent systems with uniform and constant communication delays on directed or undirected graphs. We consider both the state feedback and output feedback solutions. In the latter case, the agents can be a set of heterogeneous linear systems. By resorting to a new approach based on the scalar Lambert equation we obtain a constructive design with less conservative closed-form delay bounds. In particular, it is possible to compensate arbitrarily large delays if the agents are not unstable.

Stochastic Leader-Following for Heterogeneous Linear Agents with Communication Delays / Battilotti, Stefano; Cacace, Filippo; Califano, Claudia; D'Angelo, Massimiliano. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 0018-9286. - 68:9(2023), pp. 5706-5713. [10.1109/TAC.2022.3225133]

Stochastic Leader-Following for Heterogeneous Linear Agents with Communication Delays

Stefano Battilotti
;
Claudia Califano;Massimiliano d'Angelo
2023

Abstract

We study the leader-following problem for linear stochastic multi-agent systems with uniform and constant communication delays on directed or undirected graphs. We consider both the state feedback and output feedback solutions. In the latter case, the agents can be a set of heterogeneous linear systems. By resorting to a new approach based on the scalar Lambert equation we obtain a constructive design with less conservative closed-form delay bounds. In particular, it is possible to compensate arbitrarily large delays if the agents are not unstable.
2023
Multi-agent systems; Stochastic systems; Delay systems
01 Pubblicazione su rivista::01a Articolo in rivista
Stochastic Leader-Following for Heterogeneous Linear Agents with Communication Delays / Battilotti, Stefano; Cacace, Filippo; Califano, Claudia; D'Angelo, Massimiliano. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 0018-9286. - 68:9(2023), pp. 5706-5713. [10.1109/TAC.2022.3225133]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1660800
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