Consensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies

被引：509

作者：

Lin, Peng ^{[1
]}

Jia, Yingmin ^{[1
]}

机构：

[1] Beihang Univ BUAA, Res Div 7, Beijing 100083, Peoples R China

来源：

AUTOMATICA | 2009年 / 45卷 / 09期

关键词：

Consensus; Time-delay; Dynamically changing topologies; Second-order dynamics; AGENTS; NETWORKS;

D O I：

10.1016/j.automatica.2009.05.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the consensus problem of multi-agent systems with nonuniform time-delays and dynamically changing topologies. A linear consensus protocol is introduced to realize local control strategies for these second-order discrete-time agents. By model transformations and applying the properties of nonnegative matrices, sufficient conditions are derived for state consensus of the systems. It is shown that arbitrary bounded time-delays can safely be tolerated, even though the communication structures between agents dynamically change over time and the corresponding directed graphs may not have spanning trees. Finally, a numerical example is included to illustrate the obtained results. Crown Copyright (C) 2009 Published by Elsevier Ltd. All rights reserved.

引用

页码：2154 / 2158

页数：5

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