Consensus problems of first-order dynamic multi-agent systems with multiple time delays

被引:20
作者
Ji Liang-Hao [1 ,2 ]
Liao Xiao-Feng [1 ]
机构
[1] Chongqing Univ, Coll Comp Sci, State Key Lab Power Transmiss Equipment & Syst Se, Chongqing 400044, Peoples R China
[2] Chongqing Univ Posts & Telecommun, Coll Comp Sci & Technol, Chongqing 400065, Peoples R China
基金
中国国家自然科学基金;
关键词
multi-agent; time delays; consensus; first-order; convergence;
D O I
10.1088/1674-1056/22/4/040203
中图分类号
O4 [物理学];
学科分类号
0702 ;
摘要
Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases: 1) continuous, 2) discrete, and 3) a continuous system with a proportional plus derivative controller. In each case, the system contains simultaneous communication and input time delays. Supposing a dynamic multi-agent system with directed topology that contains a globally reachable node, the sufficient convergence condition of the system is discussed with respect to each of the three cases based on the generalized Nyquist criterion and the frequency-domain analysis approach, yielding conclusions that are either less conservative than or agree with previously published results. We know that the convergence condition of the system depends mainly on each agent's input time delay and the adjacent weights but is independent of the communication delay between agents, whether the system is continuous or discrete. Finally, simulation examples are given to verify the theoretical analysis.
引用
收藏
页数:6
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