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Necessary and Sufficient Conditions for Circle Formations of Mobile Agents with Coupling Delay via Sampled-Data Control

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  • Jianwei Zhao
  • Hongxiang Hu
  • Chen Wang
  • Guangming Xie

Abstract

A circle forming problem for a group of mobile agents governed by first-order system is investigated, where each agent can only sense the relative angular positions of its neighboring two agents with time delay and move on the one-dimensional space of a given circle. To solve this problem, a novel decentralized sampled-data control law is proposed. By combining algebraic graph theory with control theory, some necessary and sufficient conditions are established to guarantee that all the mobile agents form a pregiven circle formation asymptotically. Moreover, the ranges of the sampling period and the coupling delay are determined, respectively. Finally, the theoretical results are demonstrated by numerical simulations.

Suggested Citation

  • Jianwei Zhao & Hongxiang Hu & Chen Wang & Guangming Xie, 2016. "Necessary and Sufficient Conditions for Circle Formations of Mobile Agents with Coupling Delay via Sampled-Data Control," Mathematical Problems in Engineering, Hindawi, vol. 2016, pages 1-8, June.
    • Handle: RePEc:hin:jnlmpe:1056594
    DOI: 10.1155/2016/1056594
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