Stability of a second order consensus algorithm with time delay

被引：59

作者：

Yang, Wen ^{[1
,2
]}

Bertozzi, Andrea L. ^{[3
]}

Wang, Xiaofan ^{[2
]}

机构：

[1] Univ Calif Los Angeles, Dept Math, Los Angeles, CA 90024 USA

[2] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200030, Peoples R China

[3] Univ Calif Los Angeles, Fac Dept Math, Los Angeles, CA USA

来源：

47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年

关键词：

Cooperative control; Consensus problem; time delay; frequency domain;

D O I：

10.1109/CDC.2008.4738951

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, we investigate a second order consensus problem in a directed graph with non-uniform time delay. This problem arises naturally in real multi-agent systems such as distributed sensing and collective motion. We analyze convergence of the consensus algorithm by frequency domain methods. By using the small -mu stability theorem, we derive criteria to guarantee convergence. Furthermore, we extend the analysis to higher order systems with time delay. Finally, we present simulations to illustrate theoretical results.

引用

页码：2926 / 2931

页数：6

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