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

Abstract EN

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.