Intentional delay can benefit consensus of second-order multi-agent systems

被引：28
作者：
Ma, Qian [1 ]
Xu, Shengyuan [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
来源：
AUTOMATICA | 2023年 / 147卷
基金：
中国国家自然科学基金;
关键词：
Consensus; Second-order systems; Time delay; Crossing frequencies; Crossing delays; COMMUNICATION; STABILITY; INPUT; NETWORKS; AGENTS;
D O I：
10.1016/j.automatica.2022.110750
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, second-order multi-agent systems with intentionally induced delay are studied, which cannot achieve consensus with a non-delay position-based protocol. Under the proposed distributed protocol with the current and outdated position states, the crossing frequencies and crossing delays of the related quasipolynomial of the delayed systems are identified. By determining the crossing directions of the imaginary roots, the change of the number of the right half-plane roots can be obtained. Accordingly, consensus condition and consensus delay range are provided. Simulations illustrate the effectiveness of the theoretical analysis.(c) 2022 Elsevier Ltd. All rights reserved.
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页数：9
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