Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays

"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 theo...

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Detalhes bibliográficos
Autores: Haonan Fan, ADRIAN RENE RAMIREZ LOPEZ, Rifat Sipahi
Tipo de documento: artigo
Estado:Versión aceptada para publicación
Data de publicação:2021
País:México
Recursos:Instituto Potosino de Investigación Científica y Tecnológica
Repositório:Repositorio Institucional del IPICYT
OAI Identifier:oai:ipicyt.repositorioinstitucional.mx:1010/2478
Acesso em linha:http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/2478
Access Level:Acesso embargado
Palavra-chave:info:eu-repo/classification/Autor/Consensus
info:eu-repo/classification/Autor/Stability
info:eu-repo/classification/Autor/Differential-wheeled (nonholonomic) robot
info:eu-repo/classification/Autor/Time delay
info:eu-repo/classification/Autor/Large scale network
info:eu-repo/classification/cti/1
info:eu-repo/classification/cti/12
info:eu-repo/classification/cti/1207
info:eu-repo/classification/cti/120702
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spelling Consensus Stability of a Large Scale Robotic Network under Input and Transmission DelaysHaonan FanADRIAN RENE RAMIREZ LOPEZRifat Sipahiinfo:eu-repo/classification/Autor/Consensusinfo:eu-repo/classification/Autor/Stabilityinfo:eu-repo/classification/Autor/Differential-wheeled (nonholonomic) robotinfo:eu-repo/classification/Autor/Time delayinfo:eu-repo/classification/Autor/Large scale networkinfo:eu-repo/classification/cti/1info:eu-repo/classification/cti/12info:eu-repo/classification/cti/1207info:eu-repo/classification/cti/120702info:eu-repo/classification/cti/120702"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."IEEE2021info:eu-repo/date/embargoEnd/2024-12-31info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionapplication/pdfhttp://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/2478reponame:Repositorio Institucional del IPICYTinstname:Instituto Potosino de Investigación Científica y Tecnológicainstacron:IPICYTinfo:eu-repo/semantics/altIdentifier/DOI/https://doi.org/10.1109/TCNS.2021.3124912citation: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.info:eu-repo/semantics/embargoedAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0oai:ipicyt.repositorioinstitucional.mx:1010/24782024-08-28T03:17:54Z
dc.title.none.fl_str_mv Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays
title Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays
spellingShingle Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays
Haonan Fan
info:eu-repo/classification/Autor/Consensus
info:eu-repo/classification/Autor/Stability
info:eu-repo/classification/Autor/Differential-wheeled (nonholonomic) robot
info:eu-repo/classification/Autor/Time delay
info:eu-repo/classification/Autor/Large scale network
info:eu-repo/classification/cti/1
info:eu-repo/classification/cti/12
info:eu-repo/classification/cti/1207
info:eu-repo/classification/cti/120702
info:eu-repo/classification/cti/120702
title_short Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays
title_full Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays
title_fullStr Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays
title_full_unstemmed Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays
title_sort Consensus Stability of a Large Scale Robotic Network under Input and Transmission Delays
dc.creator.none.fl_str_mv Haonan Fan
ADRIAN RENE RAMIREZ LOPEZ
Rifat Sipahi
author Haonan Fan
author_facet Haonan Fan
ADRIAN RENE RAMIREZ LOPEZ
Rifat Sipahi
author_role author
author2 ADRIAN RENE RAMIREZ LOPEZ
Rifat Sipahi
author2_role author
author
dc.subject.none.fl_str_mv info:eu-repo/classification/Autor/Consensus
info:eu-repo/classification/Autor/Stability
info:eu-repo/classification/Autor/Differential-wheeled (nonholonomic) robot
info:eu-repo/classification/Autor/Time delay
info:eu-repo/classification/Autor/Large scale network
info:eu-repo/classification/cti/1
info:eu-repo/classification/cti/12
info:eu-repo/classification/cti/1207
info:eu-repo/classification/cti/120702
info:eu-repo/classification/cti/120702
topic info:eu-repo/classification/Autor/Consensus
info:eu-repo/classification/Autor/Stability
info:eu-repo/classification/Autor/Differential-wheeled (nonholonomic) robot
info:eu-repo/classification/Autor/Time delay
info:eu-repo/classification/Autor/Large scale network
info:eu-repo/classification/cti/1
info:eu-repo/classification/cti/12
info:eu-repo/classification/cti/1207
info:eu-repo/classification/cti/120702
info:eu-repo/classification/cti/120702
description "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."
publishDate 2021
dc.date.none.fl_str_mv 2021
info:eu-repo/date/embargoEnd/2024-12-31
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/2478
url http://ipicyt.repositorioinstitucional.mx/jspui/handle/1010/2478
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/DOI/https://doi.org/10.1109/TCNS.2021.3124912
citation: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.
dc.rights.none.fl_str_mv info:eu-repo/semantics/embargoedAccess
http://creativecommons.org/licenses/by-nc-nd/4.0
eu_rights_str_mv embargoedAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-nd/4.0
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:Repositorio Institucional del IPICYT
instname:Instituto Potosino de Investigación Científica y Tecnológica
instacron:IPICYT
instname_str Instituto Potosino de Investigación Científica y Tecnológica
instacron_str IPICYT
institution IPICYT
reponame_str Repositorio Institucional del IPICYT
collection Repositorio Institucional del IPICYT
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.198674

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