| Autor: |
Shihao Xie, Giovanni Russo |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
IEEE Open Journal of Control Systems, Vol 3, Pp 87-101 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2694-085X |
| DOI: |
10.1109/OJCSYS.2024.3359089 |
| Popis: |
We consider both leaderless and leader-follower, possibly nonlinear, networks affected by time-varying communication delays. For such systems, we give a set of sufficient conditions that guarantee the convergence of the network towards some desired behaviour while simultaneously ensuring the rejection of polynomial disturbances and the non-amplification of other classes of disturbances across the network. To fulfill these desired properties, and prove our main results, we propose the use of a control protocol that implements a multiplex architecture. The use of our results for control protocol design is then illustrated in the context of formation control. The protocols are validated both in-silico and via an experimental set-up with real robots. All experiments confirm the effectiveness of our approach. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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