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Consensus of high-order dynamic multi-agent systems with switching topology and time-varying delays 被引量:11

Consensus of high-order dynamic multi-agent systems with switching topology and time-varying delays
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摘要 This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent's own information and its neighbors' partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results. This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent's own information and its neighbors' partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.
出处 《控制理论与应用(英文版)》 EI 2010年第1期52-60,共9页
基金 supported by the National Natural Science Foundation of China(No.60674050,60736022,10972002,60774089,60704039)
关键词 Consensus problems Distributed control Multi-agent systems Switching topology Time-varying delays Lyapunov-Krasovskii approach Consensus problems Distributed control Multi-agent systems Switching topology Time-varying delays Lyapunov-Krasovskii approach
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参考文献10

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  • 2Hongyong YANG 1 , Fucai WANG 2 , Zhenxing ZHANG 3 , Guangdeng ZONG 4 (1.School of Information Science and Engineering, Ludong University, Yantai Shandong 264025, China,2.School of Electronic and Electrical Engineering, Ludong University, Yantai Shandong 264025, China,3.School of Automation, Southeast University, Nanjing Jiangsu 210096, China,4.Institute of Automation, Qufu Normal University, Qufu Shandong 273165, China).Consensus of multiagent systems based on disturbance observer[J].控制理论与应用(英文版),2010,8(2):145-150. 被引量:1
  • 3俞辉,蹇继贵,王永骥.多智能体时滞网络的加权平均一致性[J].控制与决策,2007,22(5):558-561. 被引量:30
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