Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in robotic manipulators in bilateral teleoperation or string instability in platoons of autonomous vehicles. This paper considers nonlinear time-delay systems representing coupled robotic agents, and proposes controllers that are robust to time-varying communication delays. We introduce approximations that allow the delays to be considered as implicit control inputs themselves, and formulate the problem as a zero-sum differential game between the stabilizing controllers and the delays acting adversarially. The ensuing optimal control law is finally compared to known results from Lyapunov-Krasovskii based approaches via numerical experiments.

中文翻译：

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面向通信延迟鲁棒的网络物理系统：一种差异博弈方法

互连的网络物理系统之间的协作正变得越来越普遍。众所周知，此类系统之间的通信通道中的时间延迟会导致灾难性的故障模式，例如双边遥控操作中机器人操纵器的高频振荡或自动驾驶车辆排中的串不稳定性。本文考虑了代表耦合机器人代理的非线性时延系统，并提出了对时变通信延迟具有鲁棒性的控制器。我们引入了允许延迟被视为隐式控制输入本身的近似值，并将问题表述为稳定控制器和对抗性延迟之间的零和微分博弈。