Robust stability of vehicles formations with time delays and uncertainties

This paper deals with the problem of stability for vehicles formations system with structured uncertainties and time delays. The vehicles are modeled as general linear continuous-time systems which exchange information according to an undirected communication graph. The feedback control is based only on relative information about vehicle states shared via the communication links. Delay-dependent robust stability of vehicles formations system with uncertainties is analyzed. The sufficient conditions for asymptotical stability are proposed. The analysis framework is based on tools from algebraic graph theory, matrix theory, control theory and linear inequality matrix theory. Finally, an illustrative example is used to show the validity of the theoretical results.