Stochastic Leader-Following for Heterogeneous Linear Agents With Communication Delays
Stefano Battilotti, Filippo Cacace, Claudia Califano, Massimiliano d’Angelo · IEEE Transactions on Automatic Control · 2022
In this article, we study the leader-following problem for linear stochastic multiagent systems with uniform and constant communication delays on directed or undirected graphs. We consider both the state feedback and output feedback solutions. In the latter case, the agents can be a set of heterogeneous linear systems. By resorting to a new approach based on the scalar Lambert equation, we obtain a constructive design with less conservative closed-form delay bounds. In particular, it is possible to compensate arbitrarily large delays if the agents are not unstable.