Formation control of multi-agent systems with double integrator dynamics using delayed static output feedback

In this paper a network of vehicles moving in a two dimensional plane, described by double integrator dynamics, is stabilized by a novel distributed control methodology, to maintain a formation. The distributed control architecture employs static output feedback using an artificial delay. Delays in communication of the relative information are exploited to stabilize the network system using state output feedback of position information only. The synthesis of the controller gains and the level of artificial delay, is posed as an optimization problem subject to the feasibility of a set of Linear Matrix Inequalities based on a discretized Lyapunov-Krasovskii functional.