Towards Cyber–Physical Systems Robust to Communication Delays: A Differential Game Approach

Shankar A. Deka, Donggun Lee, Claire J. Tomlin

Research output: Contribution to journalArticleScientificpeer-review


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 letter 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.
Original languageEnglish
Article number9651534
Pages (from-to)2042-2047
Number of pages6
JournalIEEE Control Systems Letters
Publication statusPublished - 1 Jan 2022
MoE publication typeA1 Journal article-refereed


  • Delays
  • Games
  • Optimal control
  • Time-varying systems
  • Robot kinematics
  • Mathematical models
  • Differential games


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