Abstract
In this paper, a distributed controller is designed for the consensus of multi-agent systems in which each agent has a general second-order linear dynamic and the information is exchanged over a data-delaying communication network. Using the sensitivity of system poles to the parameters of the control protocol, graphical delay-dependent synthesis conditions are derived to tune the controller gains. A systematic procedure is developed to attain maximum tolerable transmission delay in the system. Moreover, simpler condition is provided for the special case where the second-order model is reduced to a double integrator. Simulation results are presented to illustrate the merits of the proposed scheme compared to some recent rival ones in the literature.
Highlights
A canonical concept in the field of cooperative systems is called consensus, in which the agents of the system agree on some physical or virtual quantities to work with together
The error dynamical equation is defined with two states exi (t ) and eyi (t ), which stands for the error between states of agents i = 2, 3, ... , N with agent 1
The stabilizing set has been obtained in the plane of control protocol parameters for multi-agent systems (MASs) with general secondorder linear dynamic and communication delay between agents
Summary
A canonical concept in the field of cooperative systems is called consensus, in which the agents of the system agree on some physical or virtual quantities to work with together. In [27], consensus conditions were suggested for the MASs with general second-order agents in the presence of communication delay; wherein, based on the frequency domain analysis, synthesis criteria were first extracted for choosing controller parameters in the delay-free case. Along the lines of [14, 15], a novel control strategy is developed for the consensus of MASs with general second-order linear agents considering communication delay between agents. A systematic procedure is proposed to determine a region in the plane of controller gains which ensures consensus of agents The area of this admissible set decreases when the value of time delay increases. Im denote the m-dimensional identity matrix, 0m denote the zero matrices with an appropriate dimension. {Rθ or R{θ}} and {Iθ or I {θ}} are the real and imaginary parts of the complex number θ, respectively
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