Robust Stability of a Multi-Agent System Under Arbitrary and Time-Varying Communication Topologies and Communication Delays

被引：36

作者：

Popov, Andrey ^{[1
]}

Werner, Herbert ^{[2
]}

机构：

[1] Scienlab Elect Syst GmbH, D-44801 Bochum, Germany

[2] Hamburg Univ Technol, Inst Control Syst, D-21073 Hamburg, Germany

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2012年 / 57卷 / 09期

关键词：

Communication delay; formation control; multi-agent system; robust control; time-varying topology; CONSENSUS PROBLEMS; NETWORKS; AGENTS; DESIGN;

D O I：

10.1109/TAC.2012.2186094

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 technical note considers formation control of a group of identical agents that can communicate with each other. A necessary and sufficient condition for robust stability in the case of arbitrary time-invariant communication topologies and sufficient conditions in the case of arbitrary time-varying topology and communication delays are derived, that reduce the stability analysis and controller design problems to analysis or synthesis, respectively, for a single agent.

引用

页码：2343 / 2347

页数：5

共 22 条

[1]

[Anonymous], 2001, Matrix Analysis and Applied Linear Algebra

[2]

[Anonymous], 2008, LQR BASED COUPLING G

[3] Average consensus problems in networks of agents with delayed communications [J].