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;
In corso di stampa

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.
In corso di stampa
Leader-following control; predictor feedback; Kalman-Bucy filtering; stochastic systems; time-delay systems.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12610/68603
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