We consider the leader-following control problem on connected directed graphs for stochastic linear agents in the presence of communications and actuator delays. We propose to use a distributed protocol for detecting the distance of agents from the leader and we show that by suitably using this information it is possible to solve efficiently the leader-following control problem by means of predictors, thus recovering results for the single-agent case. The proposed predictor and controller are easy to design and the delay bound that guarantees stability can be computed from closed-form expressions without resorting to LMIs.
Stochastic predictor-based leader-following control with input and communication delays / Cacace, F; D'Angelo, M; Ricciardi Celsi, L. - In: INTERNATIONAL JOURNAL OF CONTROL. - ISSN 0020-7179. - 96:10(2023), pp. 2611-2622. [10.1080/00207179.2022.2106896]
Stochastic predictor-based leader-following control with input and communication delays
D'Angelo, M;Ricciardi Celsi L
2023
Abstract
We consider the leader-following control problem on connected directed graphs for stochastic linear agents in the presence of communications and actuator delays. We propose to use a distributed protocol for detecting the distance of agents from the leader and we show that by suitably using this information it is possible to solve efficiently the leader-following control problem by means of predictors, thus recovering results for the single-agent case. The proposed predictor and controller are easy to design and the delay bound that guarantees stability can be computed from closed-form expressions without resorting to LMIs.File | Dimensione | Formato | |
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Note: DOI: 10.1080/00207179.2022.2106896
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