Bounds on Delay Consensus Margin of Second-Order Multiagent Systems With Robust Position and Velocity Feedback Protocol

被引:37
作者
Ma, Dan [1 ]
Tian, Rui [1 ]
Zulfiqar, Adil [2 ]
Chen, Jie [2 ]
Chai, Tianyou [3 ]
机构
[1] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Coll Informat Sci & Engn, Shenyang 110819, Liaoning, Peoples R China
[2] City Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China
[3] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110819, Liaoning, Peoples R China
基金
中国国家自然科学基金;
关键词
Delay consensus margin (DCM); multiagent systems (MASs); second-order agents; time delay; LAPLACIAN EIGENVALUES; INPUT; NETWORKS;
D O I
10.1109/TAC.2018.2884154
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 delay consensus margin and its bounds for second-order multiagent systems to achieve robust consensus with respect to uncertain delays varying within a range. This paper attempts to answer the question: What is the largest delay range within which a control protocol is able to achieve and maintain the consensus? We consider second-order agents with unstable poles, which communicate over an undirected network topology, and derive explicit bounds on the delay consensus margin. The results show that the consensuability robustness of such unstable agents depends on the pole locations of the agents, as well as on the eigenratio of the network graph.
引用
收藏
页码:3780 / 3787
页数:8
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