Effects of Delay in Multi-Agent Consensus and Oscillator Synchronization

被引:149
作者
Papachristodoulou, Antonis [1 ]
Jadbabaie, Ali [2 ]
Muenz, Ulrich [3 ]
机构
[1] Univ Oxford, Dept Engn Sci, Oxford OX1 3PJ, England
[2] Univ Penn, Dept Elect & Syst Engn, Philadelphia, PA 19104 USA
[3] Univ Stuttgart, Inst Syst Theory & Automat Control, D-70550 Stuttgart, Germany
基金
英国工程与自然科学研究理事会;
关键词
Delay effects; Lyapunov methods; multi-agent systems; networked control system; nonlinear systems; oscillator synchronization; KURAMOTO MODEL; NETWORKS; STABILITY; SYSTEMS; AGENTS;
D O I
10.1109/TAC.2010.2044274
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The coordinated motion of multi-agent systems and oscillator synchronization are two important examples of networked control systems. In this technical note, we consider what effect multiple, non-commensurate (heterogeneous) communication delays can have on the consensus properties of large-scale multi-agent systems endowed with nonlinear dynamics. We show that the structure of the delayed dynamics allows functionality to be retained for arbitrary communication delays, even for switching topologies under certain connectivity conditions. The results are extended to the related problem of oscillator synchronization.
引用
收藏
页码:1471 / 1477
页数:7
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