Abstract
General asynchronously coupled consensus algorithm associated with adjacent compensations, is proposed to solve the dynamical consensus problem of second-order multiagent network with communication delay under leader-following coordination control framework. Based on frequency-domain analysis, firstly, delay-independent consensus convergence is proved for the second-order multiagent systems with a spanning tree topology that has the leader root and then delay-dependent consensus condition is obtained for the multiagent systems with communication delay under a general leader-following interconnection topology. Simulation illustrates the correctness of the results.
Highlights
Coordination control of multiple autonomous dynamic agents has attracted much attention in recent years for its broad application in automated highway systems, air traffic control, congestion control in the Internet, and so on
To prove the effectiveness of the proposed algorithm, we firstly investigate the secondorder multiagent systems with a spanning tree topology that has the leader as a root, and it is proved that the agents can achieve a dynamical consensus without any relationship to the communication delay
With asynchronously coupled consensus algorithm (6), the agents may not converge to an asymptotic consensus or the final consensus state of the dynamic agents (1) is stationary, and consensus conditions depend on the communication delay [25, 26]
Summary
Coordination control of multiple autonomous dynamic agents has attracted much attention in recent years for its broad application in automated highway systems, air traffic control, congestion control in the Internet, and so on. Synchronously coupled consensus algorithm has been extensively studied for multiagent systems, and delay-dependent consensus conditions have been obtained for the system under fixed or switched interconnection topologies based on frequency-domain analysis [2, 7, 8] and Lyapunov function methods [9,10,11,12,13,14,15]. Abstract and Applied Analysis systems with the dynamical consensus algorithm composed of the position and the velocity consensus coordination control parts, Yang et al [25] obtained sufficient consensus conditions for the second-order dynamic agents with timevarying communication delays based on small-μ stability theorem, and C.-L. Liu [26] got sufficient and necessary consensus condition for two coupled second-order dynamic agents with identical time-invariant communication delay by using frequency-domain analysis. Under the general connected topology that is composed of the agents and the leader, delay-dependent sufficient condition is obtained for the multiagent systems with communication delay
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