Stability of potential function formation control with communication and processing delay

Authors:
Luke M. Wachter;Laura E. Ray
Affiliations:
Thayer School of Engineering, Dartmouth College;Thayer School of Engineering, Dartmouth College
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 4
Cited 0

Modern Control Engineering

Modern Control Engineering
Consensus Based Formation Control and Trajectory Tracing of Multi-Agent Robot Systems

Journal of Intelligent and Robotic Systems
Issues in computational resource allocation in cooperative control

Proceedings of the 1st international conference on Robot communication and coordination
Average consensus problems in networks of agents with delayed communications

Automatica (Journal of IFAC)

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Abstract

We derive conditions for which a circular formation of nonholonomic robots under potential function control is stable, where robots assume a radially-directed pose at equilibrium. In addition to the delay-free case, we investigate the stability of the equilibrium when communication and local processing introduce delay. It is shown that while sufficiently large processing delay always leads to instability, with the right choice of control parameters, the system can tolerate unbounded communication delay. The analytical results are compared with simulations of a fleet of nonholomonic robots as well as with experimental data.