Predictorfeedback synthesis in coordinatefree formation control under timevarying delays Abstract   This paper investigates new coordinatefree formation control strategies of multiagent systems to overcome the negative effects of time delays. To this end, we present a single predictorfeedback scheme to compensate the multiple communication delays, assumed to be unknown but bounded and arbitrarilyfast timevarying. Although delays cannot exactly be compensated due to timevarying delay mismatches, the tradeoff between robustness and convergence speed can be notably improved if the control gain is suitably designed. Hence, with the objective of enlarging the timevarying delay interval for a given convergence speed, an LMIbased iterative algorithm is presented to solve the control gain synthesis.

Leaderfollowing consensus of linear timevarying multiagent systems under fixed and switching topologies Abstract   The leaderfollowing consensus problems for linear timevarying multiagent systems under fixed and switching topologies are considered. Several results are derived on the basis of Lyapunovxe2x80x99s direct method. For a network of linear timevarying agents with fixed topology, we provide two protocols, respectively. One of them uses global information of the communication topology. It guarantees the multiagent system to go to the leaderfollowing agreement with an arbitrarily given exponential rate. The other uses local information associated with each follower, and is implemented in a fully distributed fashion. It has robustness with respect to a certain degree of link failure. It is extended to a network of linear timevarying agents with switching topology. The resulting protocol guarantees the multiagent system to achieve the leaderfollowing consensus, if the union of switching graphs has a spanning tree rooted at the leader. It also has robustness with respect to a certain degree of link failure. Simulation examples are provided to validate the effectiveness of the results.