Contraction Analysis of Time-Delayed Communications Using Simplified Wave Variables

2005/12/25 by Wei Wang, Jean-Jacques Slotine, Wang, Wei +2
Computer Science · Engineering · Physics and Astronomy · #Energy Efficient Wireless Sensor Networks #Underwater Vehicles and Communication Systems #Wireless Body Area Networks #nlin.PS

paper · pdf · doi:10.48550/arxiv.nlin/0512070

16 pages, 7 figures

arxiv created 2005/12/25 · arxiv updated 2009/12/01

Abstract

We study stability of interacting nonlinear systems with time-delayed communications, using contraction theory and a simplified wave variable design inspired by robotic teleoperation. We show that contraction is preserved through specific time-delayed feedback communications, and that this property is independent of the values of the delays. The approach is then applied to group cooperation with linear protocols, where it shown that synchronization can be made robust to arbitrary time delays.

Citations

• On Contraction Analysis for Non-linear Systems
• Consensus Problems in Networks of Agents With Switching Topology and Time-Delays

Cited by

• Stable concurrent synchronization in dynamic system networks

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