Abstract
In this paper, the ability to perform tight formation control in the presence of communication and measurement delays is investigated. The paper discusses cross-link requirements for formation control and compares centralized and decentralized control strategies. A simple two degree-of-freedom model with communication delays is introduced for analysis. A typical approach for systems with small time delays is to base the design on a nominal system model that does not contain the time delays. The limitations of this approach on stability and closed-loop bandwidth are discussed. Finally, the time delay is considered in the design of two control structures: state-feedback and state-feedback with integral feedback. The effects of the time delay on stability, stability margins, and bandwidth are investigated. An example illustrating these effects is presented.
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