Integrated control methods for time varying preserved connectivity and communication delay in decentralized networks

Mobile agents´ mobility and power limitation may result in communication delay. Then the network connectivity may be not maintained only by power control or mobility control in mobile decentralized network, so we provide integrated power and mobility control law design methods for preserved connectivity in this paper. Consider preserved connectivity and communication delay may be time varying, we extend previous works of power control and mobility control for connectivity, and design power control methods, integrated power and mobility control methods for power, position and velocity. We get the results that with time increasing, the communication radius approaches to the preserved value, the relative positions converge to the preserved position, and the velocities converge to a constant.