We consider the leader-following control problem on connected directed graphs for stochastic linear agents in the presence of communications and actuator delays. We propose to use a distributed protocol for detecting the distance of agents from the leader and we show that by suitably using this information it is possible to solve efficiently the leader-following control problem by means of predictors, thus recovering results for the single-agent case. The proposed predictor and controller are easy to design and the delay bound that guarantees stability can be computed from closed-form expressions without resorting to LMIs.
Stochastic Predictor-Based Leader-Following Control with Input and Communication Delays
Filippo Cacace;
2023-01-01
Abstract
We consider the leader-following control problem on connected directed graphs for stochastic linear agents in the presence of communications and actuator delays. We propose to use a distributed protocol for detecting the distance of agents from the leader and we show that by suitably using this information it is possible to solve efficiently the leader-following control problem by means of predictors, thus recovering results for the single-agent case. The proposed predictor and controller are easy to design and the delay bound that guarantees stability can be computed from closed-form expressions without resorting to LMIs.File in questo prodotto:
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