Delay- and Packet-Loss-Tolerant Null-Space-Based Control for Distributed Multi-Agent Systems

This paper presents a distributed null-space-based behavioral (NSB) control algorithm for formation path following with discrete-time communication. To address the challenges of communication delays and packet losses, each agent employs a delay-tolerant high-gain observer to estimate the state of its neighbors. These estimates are then used in a distributed NSB control law to achieve both formation keeping and coordinated path following. A Lyapunov-based analysis provides sufficient conditions for exponential stability of the closed-loop system under bounded delays. The algorithm is validated through numerical simulations in scenarios with range-dependent communication delays, probabilistic packet loss, and large TDMA cycle times.