Distributed PI Control for Consensus of Multi-agent Systems with Time-delay Under Directed Topology

被引：2
作者：
Wang, Qi [1 ]
Ma, Qian [1 ]
Zhou, Guopeng [2 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing, Jiangsu, Peoples R China
[2] Hubei Univ Sci & Technol, Inst Engn & Technol, Xianning, Hubei, Peoples R China
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
基金：
中国国家自然科学基金;
关键词：
Consensus; distributed PI control; multi-agent systems; time delay; 2ND-ORDER CONSENSUS; NONLINEAR DYNAMICS; SWITCHING TOPOLOGY; NETWORKS; AGENTS; ALGORITHM;
D O I：
10.23919/chicc.2019.8866024
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 considers the consensus problem of multi-agent systems with time delay under directed topology. A novel proportional-integral (PI) control protocol with a time delay is proposed for each agent to ensure the consensus. The problem of consensus is converted to a stability problem by system transformation. Sufficient conditions are obtained based on the proposed Lyapunov functional candidate using Lyapunov stability theory, graph theory and matrix theory. The proposed condition has less conservatism by adding a triple-integral term. Finally, numerical simulations are provided to illustrate the effectiveness of the results.
引用
收藏
页码：5629 / 5634
页数：6
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