Contraction Analysis of Time-Delayed Communications Using Simplified Wave Variables

2005/12/25 by Wei Wang, Jean-Jacques Slotine, Wang, Wei +1
Engineering · Computer Science · #Underwater Vehicles and Communication Systems #Wireless Body Area Networks #Energy Efficient Wireless Sensor Networks

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

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

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