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.

翻译：互联的网络物理系统之间的协作正在变得越来越普遍。人们知道,这些系统之间的通信渠道拖延时间会导致灾难性的失败模式,如双边远程操作中的机器人操纵器的高频振荡,或自动车辆排的连字符串不稳定。本文考虑了代表混合机器人代理器的非线性时间拖动系统,并提议了对时间变化通信延误具有强大影响的控制器。我们引入了近似值,允许将延迟视为隐性控制输入本身,并将问题描述为稳定控制器与对抗性延迟之间的零和差价游戏。随后产生的最佳控制法最终与基于Lyapunov-Krasovskii方法通过数字实验得出的已知结果进行了比较。