Consensus conditions for general second-order multi-agent systems with communication delay

被引：191

作者：

Hou, Wenying ^{[1
]}

Fu, Minyue ^{[2
,3
]}

Zhang, Huanshui ^{[1
]}

Wu, Zongze ^{[3
]}

机构：

[1] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China

[2] Univ Newcastle, Sch Elect Engn & Comp Sci, Callaghan, NSW 2308, Australia

[3] Guangdong Univ Technol, Guangdong Key Lab IoT Informat Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China

来源：

AUTOMATICA | 2017年 / 75卷

基金：

美国国家科学基金会;

关键词：

Time-delay systems; Multi-agent systems; Frequency domain method; Second-order consensus; STABILITY; MARGIN;

D O I：

10.1016/j.automatica.2016.09.042

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 for a class of general second-order multi-agent systems (MASs) with communication delay. We first consider the delay-free case and obtain a necessary and sufficient condition for consensus. Then, based on the obtained conditions for the delay-free case, we deduce an explicit formula for the delay margin of the consensus for the case with time delay using the relationship between the roots of the characteristic equation and the time delay parameter. In addition, we consider the special case where the second-order model is a double integrator. For this case, simpler consensus conditions under communication delay are provided. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：293 / 298

页数：6

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