Delayed and Switched Deployment of Second-Order Agents on a Line Segment: Delays and Switches Do Not Matter

• 成果类型: Article
• 署名作者: Aleksandrov, Alexander; Fradkov, Alexander; Semenov, Aleksandr
• 署名单位: Saint Petersburg State University; Russian Academy of Sciences
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3210205
• 发表日期: 2023
• 页码: 4956-4961
• 关键词: Asymptotic stability; delay; double integrators; Formation control; switched system

摘要

The problem of the equidistant deployment of mobile agents on a line segment is studied. It is assumed that agent dynamics are modeled by linear second-order models. Two types of control protocols are studied: with and without relative velocity measurements. For any positive damping coefficient of agents, we propose a control protocol that ensures the achievement of the control goal and possesses robustness for any communication delays and any switching topology. The designed multiagent system behavior is illustrated by numerical simulation. The proofs of the results are based on the theory of positive systems.