Consensus-Based Formation Control of Networked Nonholonomic Vehicles With Delayed Communications

For a network of nonholonomic vehicles communicating according to an undirected connected graph, a consensus-based formation control problem is solved via a smooth time-varying, proportional-derivative, δ-persistently-exciting, controller. It is assumed that the communication among agents is affected by time-varying, nondifferentiable, communication delays and uniform global asymptotic stability is demonstrated. This goes beyond the more-often encountered property of nonuniform convergence and, what is more, for the first time in the literature, a strict Lyapunov-Krasovskii functional is provided.