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

D'Angelo, M;Ricciardi Celsi L
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.
2023
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/20.500.12606/23733
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