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Robust Stability of a Multi-Agent System Under Arbitrary and Time-Varying Communication Topologies and Communication Delays

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2 Author(s)
Popov, A. ; Scienlab Electron. Syst. GmbH, Bochum, Germany ; Werner, H.

This technical note considers formation control of a group of identical agents that can communicate with each other. A necessary and sufficient condition for robust stability in the case of arbitrary time-invariant communication topologies and sufficient conditions in the case of arbitrary time-varying topology and communication delays are derived, that reduce the stability analysis and controller design problems to analysis or synthesis, respectively, for a single agent.

Published in:

Automatic Control, IEEE Transactions on  (Volume:57 ,  Issue: 9 )