Second-Order Multi-Agent Consensus via Delayed Relative Displacement Feedback

被引：0
|
作者：
Lizzio, Fausto Francesco [1 ]
Capello, Elisa [2 ]
Fujisaki, Yasumasa [3 ]
机构：
[1] Politecn Torino, Dept Mech & Aerosp Engn, Turin, Italy
[2] Politecn Torino, Dept Mech & Aerosp Engn, CNR IEIIT, Turin, Italy
[3] Osaka Univ, Dept Informat & Phys Sci, Suita, Osaka, Japan
来源：
2023 62ND ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS, SICE | 2023年
关键词：
robust control; multivariable control; guidance and flight control; consensus; time-delay system; DISTRIBUTED CONSENSUS; STABILITY; COMMUNICATION; NETWORKS; AGENTS; INPUT;
D O I：
10.23919/SICE59929.2023.10354145
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, a second-order multi-agent consensus via relative displacement feedback is studied. It is assumed that the velocity measurements of the agents are not available and that the position information processing is affected by a uniform bounded delay. A sufficient condition for consensus in undirected and connected topologies is provided in terms of a complex stability region for the eigenvalues of the Laplacian matrix. Moreover, a method for the evaluation of the critical delay is presented. Numerical examples illustrate the effect of the delay in different topologies.
引用
收藏
页码：658 / 663
页数：6
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