Consensus-based formation control of networked nonholonomic vehicles with delayed communications
Résumé
For a network of nonholonomic vehicles communicating according to an undirected connected graph, a consensus-based formation control problem is solved via a smooth time-varying, proportional-derivative, δ−persistently-exciting, controller. It is assumed that the communication between agents is affected by time-varying, non-differentiable, communication delays and uniform global asymptotic stability is demonstrated. This goes beyond the more-often encountered property of non-uniform convergence and, what is more, for the first time in the literature, a strict Lyapunov-Krasovskiȋ functional is provided.
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