JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2017, Vol. 47 ›› Issue (5): 79-88.doi: 10.6040/j.issn.1672-3961.0.2017.255

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A new distributed formation for multi-agent systems with constant time delays

QIN Liguo1, HE Xiao1, ZHOU Donghua1,2*   

  1. 1. Department of Automation, Tsinghua University, Beijing 100084, China;
    2. College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, Shandong, China
  • Received:2017-02-10 Online:2017-10-20 Published:2017-02-10

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Abstract: A new delay independent distributed formation control law was presented for a network of second-order integrators subject to constant time delays. A new augment variable which represented the integration of distributed formation errors was introduced to improve the robustness of the formation control law. Different from current distributed control laws, the presented control law was robust to some constant bias faults. A condition on the existence of the delay independent formation control law was proposed by using Nyquist stability criterion. The simulation demonstrated the effectiveness of the control law.

Key words: distributed control, frequency-domain analysis, formation, time delays, Nyquist stability criterion, transfer function

CLC Number: 

  • TP277
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