Título
Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays
Autor
Haonan Fan
ADRIAN RENE RAMIREZ LOPEZ
Rifat Sipahi
Nivel de Acceso
En Embargo
Identificador alterno
doi: https://doi.org/10.1109/TCNS.2021.3124912
Materias
Consensus - (AUTOR) Stability - (AUTOR) Differential-wheeled (nonholonomic) robot - (AUTOR) Time delay - (AUTOR) Large scale network - (AUTOR) CIENCIAS FÍSICO MATEMÁTICAS Y CIENCIAS DE LA TIERRA - (CTI) MATEMÁTICAS - (CTI) INVESTIGACIÓN OPERATIVA - (CTI) SISTEMAS DE CONTROL - (CTI) SISTEMAS DE CONTROL - (CTI)
Resumen o descripción
"A large scale network of differential-wheeled robots seeking consensus is considered in the presence of input and transmission delays. Consensus stability of this nonlinear network dynamics holds if its linear part can be shown to achieve consensus stability despite the delays. We present theoretical and computational results on this linear large scale system. From a theoretical point of view, conditions on the amount of input delays are revealed such that stability is guaranteed independent of any transmission delay, and in the case this is not possible, a computationally-efficient algorithm is proposed to reveal the largest transmission delay that the network can accommodate without losing stability."
Editor
IEEE
Fecha de publicación
2021
Tipo de publicación
Artículo
Versión de la publicación
Versión aceptada
Recurso de información
Formato
application/pdf
Sugerencia de citación
H. Fan, A. Ramirez and R. Sipahi, "Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays," in IEEE Transactions on Control of Network Systems, doi: 10.1109/TCNS.2021.3124912.
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