Abstract:
A group of mobile agents on a straight line is considered. First- and second-order integrators are used as agent models. Decentralized control protocols are proposed that provide both uniform and specified nonlinear uniform (uniform with respect to some function) deployment of agents on a straight-line segment. The construction of these protocols is based on information received by agents about the position of their neighbors, and this information comes not directly, but through auxiliary agents. In addition, there is a constant delay in signals from neighbors and communications between agents can be destroyed and restored at arbitrary instants of time. Using methods of positive systems theory and the Lyapunov–Krasovsky functional method, it is proved that the proposed control algorithms are robust with respect to communication delay and network topology switching.
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