Stochastic Leader-Following for Heterogeneous Linear Agents With Communication Delays

• 成果类型: Article
• 署名作者: Battilotti, Stefano; Cacace, Filippo; Califano, Claudia; d'Angelo, Massimiliano
• 署名单位: Sapienza University Rome; University Campus Bio-Medico - Rome Italy
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3225133
• 发表日期: 2023
• 页码: 5706-5713
• 关键词: Delays; Noise measurement; Eigenvalues and eigenfunctions; STANDARDS; Vehicle dynamics; trajectory; Symmetric matrices; delay systems; multiagent systems; Stochastic systems

摘要

In this article, we study the leader-following problem for linear stochastic multiagent 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.