Abstract
In this paper, the consensus problem of discrete multiagent systems with time varying sampling periods is studied. Firstly, with thorough analysis of various delays among agents, the control input of each agent is designed with consideration of sending delay and receiving delay. With construction of discrete dynamics of state error vector, it is proved by applying Halanay inequality that consensus of the system can be reached. Further, the definition of bounded consensus is proposed in the situation where environmental disturbances exist. In order to handle this problem, the Halanay inequality is extended into a more general one with boundedness property. Based on the new Halanay inequality obtained, the boundedness of consensus error is guaranteed. At last, simulation examples are presented to demonstrate the theoretical conclusions.
Highlights
The study of multiagent system (MAS) has attracted the interests of researchers from various fields for its potential application prospects in distributed computing, sensor networks and multi-robots system [1,2,3,4]
For all kinds of difficulties appearing in the multiagent system, complex networks involved in synchronization of MAS is among the most
The aim of this paper is to provide a new method to study about the consensus problem of discrete multiagent system with consideration of practical constraints
Summary
The study of multiagent system (MAS) has attracted the interests of researchers from various fields for its potential application prospects in distributed computing, sensor networks and multi-robots system [1,2,3,4]. Apart from the problems resulting from network, cooperative control of MAS depending on delayed information is an extensively studied topic due to the inevitabilities of unreliable communication link, bandwidth limitation, packets loss and computing constraint [15,16,17,18]. In this case, in order to guarantee the consensus of the multiagent system, assumptions are usually made about the delays and conditions concerning the control parameters are derived at the same time. The dynamics of multiagent systems can be presented as discrete ones and the corresponding consensus analyses are brought out in previous researches [19,20,21,22]
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