Second-order consensus for multi-agent systems with switching topology and communication delay

被引：324

作者：

Qin, Jiahu ^{[1
,2
]}

Gao, Huijun ^{[2
]}

Zheng, Wei Xing ^{[1
]}

机构：

[1] Univ Western Sydney, Sch Comp & Math, Penrith, NSW 2751, Australia

[2] Harbin Inst Technol, Space Control & Inertial Technol Res Ctr, Harbin 150001, Peoples R China

来源：

SYSTEMS & CONTROL LETTERS | 2011年 / 60卷 / 06期

基金：

澳大利亚研究理事会; 中国国家自然科学基金;

关键词：

Consensus; Second-order agents; Graphic method; Switching topology; Time delay; AVERAGE CONSENSUS; TIME-DELAY; NETWORKS; AGENTS; COORDINATION; ALGORITHMS; FLOCKING; STATE;

D O I：

10.1016/j.sysconle.2011.03.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, two kinds of consensus problems for second-order agents under directed and arbitrarily switching topologies are investigated, that is, the cases without and with communication delay. For the former, by constructing a new kind of digraph and employing a new graphic method, we can specify the least convergence rate for all the agents to reach consensus. For the latter, in virtue of a matrix inequality method, a sufficient condition in the form of feasible matrix inequalities is presented for all the agents to reach consensus. This, on the other hand, shows that consensus can be reached if the delay is small enough. Finally, two numerical examples are given to demonstrate the effectiveness and advantages of the proposed results. (C) 2011 Elsevier B.V. All rights reserved.

引用

页码：390 / 397

页数：8

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