Formation Under Communication Constraints: Control Performance Meets Channel Capacity
🤖 AI Summary
This paper addresses formation control of multi-agent systems under bandwidth-limited wireless channels and bounded process noise. Method: We propose a novel “guaranteed communication region” modeling framework, rigorously proving its boundedness over finite transmission horizons—unlike prior models, it does not grow unboundedly with time. Leveraging stochastic control, information theory, robust estimation, and adaptive power control, we design an estimation-driven controller coupled with a dynamic power scheduling strategy. Contribution/Results: We establish a fundamental trade-off between formation accuracy and channel capacity, deriving the minimum data-rate lower bound required to achieve arbitrary formation precision. Theoretical analysis guarantees asymptotic stability, quantifiable formation accuracy, and configurable resource utilization for second-order multi-agent systems under joint communication constraints and noisy disturbances—providing a new paradigm for co-design of communication and control.
Application Category
📝 Abstract
In wireless communication-based formation control systems, the control performance is significantly impacted by the channel capacity of each communication link between agents. This relationship, however, remains under-investigated in the existing studies. To address this gap, the formation control problem of classical second-order multi-agent systems with bounded process noises was considered taking into account the channel capacity. More specifically, the model of communication links between agents is first established, based on a new concept -- guaranteed communication region, which characterizes all possible locations for successful message decoding in the present of control-system uncertainty. Furthermore, we rigorously prove that, the guaranteed communication region does not unboundedly increase with the transmission time, which indicates an important trade-off between the guaranteed communication region and the data rate. The fundamental limits of data rate for any desired accuracy are also obtained. Finally, the integrated design to achieve the desired formation accuracy is proposed, where an estimation-based controller and transmit power control strategy are developed.
Problem
Research questions and friction points this paper is trying to address.
Wireless Signal Control
Channel Capacity
Formation Control Performance
Innovation
Methods, ideas, or system contributions that make the work stand out.
Guaranteed Communication Zone
Predictive Controller
Transmission Power Control
🔎 Similar Papers
No similar papers found.
