Formation control with communication delays

Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Chapter in Book/Report/Conference proceedingChapter


The problem of communication delays in the information exchange between aircraft is the focus of the present chapter. First, a delay-dependent formation control scheme is developed in the full state information case in the presence of time-varying communication delays and under a fixed and undirected communication graph. The extension of this result to the case of a directed communication graph containing a spanning tree is discussed next in the presence of arbitrary constant communication delays. Then, under the same assumptions on the communication delays, formation control schemes are designed without linear-velocity measurements. In particular, the virtual vehicles approach is used to design delay-dependent (delay-independent) formation control schemes under an undirected (directed) communication topology.

Original languageEnglish (US)
Title of host publicationAdvances in Industrial Control
PublisherSpringer International Publishing
Number of pages24
StatePublished - Jan 1 2013

Publication series

NameAdvances in Industrial Control
ISSN (Print)1430-9491
ISSN (Electronic)2193-1577

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Automotive Engineering
  • Aerospace Engineering
  • Industrial and Manufacturing Engineering


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