Cart (Loading....) | Create Account
Close category search window

Formation control based on a consensus protocol under directed communications with two time delays

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Cepeda-Gomez, R. ; Mech. Eng. Dept., Univ. of Connecticut, Storrs, CT, USA ; Olgac, N.

This paper presents an extension of the traditional consensus problem to a formation control for a group of agents driven by second order dynamics. The communication between members of the group is assumed to be directed and affected by two rationally independent time delays, one in the position and the other in the velocity information channels. These delays are considered as constant and uniform throughout the communication topology. The stability of the consensus protocol is studied first, using a simplifying factorization procedure and deploying the Cluster Treatment of Characteristic Roots (CTCR) paradigm to obtain exact stability boundaries in the domain of the delays. CTCR requires the determination of all the potential stability switching loci in the domain of the delays. For this, a surrogate domain, called the “Spectral Delay Space (SDS)” is used. As the stability of the system is studied the findings yield a paradoxical control concept of “Delay Scheduling”. It shows that the stability of the system can be regained by increasing the delays. Once the stability of the consensus protocol is guaranteed, a new control term is added to obtain a desired stable formation for the agents.

Published in:

American Control Conference (ACC), 2012

Date of Conference:

27-29 June 2012

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.