Dynamical consensus seeking of second-order multi-agent systems based on delayed state compensation

被引：41

作者：

Liu, Cheng-Lin ^{[1
]}

Liu, Fei ^{[1
]}

机构：

[1] Jiangnan Univ, Inst Automat, Minist Educ, Key Lab Adv Proc Control Light Ind, Wuxi 214122, Peoples R China

来源：

SYSTEMS & CONTROL LETTERS | 2012年 / 61卷 / 12期

基金：

中国国家自然科学基金;

关键词：

Second-order multi-agent systems; Consensus; Communication delay; Delayed state compensation; TIME-DELAYS; COMMUNICATION DELAY; SWITCHING TOPOLOGY; AGENTS; NETWORKS; COORDINATION; STABILITY;

D O I：

10.1016/j.sysconle.2012.09.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

By introducing delayed state compensation into the normal asynchronously-coupled consensus algorithm, a new consensus algorithm is constructed to solve the dynamical consensus problem of second-order multi-agent systems subjected to communication delay. Based on frequency-domain analysis, a sufficient and necessary condition, which depends on the communication delay and the control parameters, is obtained for two coupled second-order dynamic agents converging to the dynamical consensus, and it is proved that the proposed algorithm can tolerate higher communication delay than the synchronously-coupled consensus algorithm. According to linear fractional transformation and the small-gain theorem, sufficient conditions are gained for second-order multi-agent systems with communication delay under a general digraph. Simulation illustrates the correctness of the results. (C) 2012 Elsevier B.V. All rights reserved.

引用

页码：1235 / 1241

页数：7

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