Abstract
In this paper, the leader-following consensus algorithm, which is accompanied with compensations related to neighboring agents’ delayed states, is constructed for second-order multi-agent systems with communication delay. Using frequency-domain analysis, delay-independent and delay-dependent consensus conditions are obtained for second-order agents respectively to converge to the dynamical leader’s states asymptotically. Simulation illustrates the correctness of the results.
Highlights
Coordination control mechanism of distributed multiple autonomous agents exists commonly in social, nature and engineering applications
Several consensus algorithms with compensations related to delayed states of neighboring agents [28], desired target [25] and dynamical leader [26,27] were added to consensus algorithm in order to remain the original control objective
We propose a delayed-compensation leader-following consensus algorithm for second-order multi-agent systems to track a dynamical leader asymptotically under communication delay
Summary
Coordination control mechanism of distributed multiple autonomous agents exists commonly in social, nature and engineering applications. Under dynamical consensus algorithm composed of the position and velocity consensus coordination parts, asynchronously-coupled form just drives the second-order agents to achieve a stationary consensus, and the consensus convergence is strictly dependent on the communication delay [23,24]. Liu et al designed the delay-dependent compensations based on the information of global desired objective for each agent, and obtained delay-independent consensus condition for second-order multi-agent systems [25,26,27]. Liu and Liu [28] constructed compensations for normal asynchronously-coupled consensus algorithm based on neighboring agents’ delayed states, and gained delay-dependent sufficient conditions for second-order multi-agent systems with communication delay under a general digraph. Delay-dependent sufficient conditions are obtained for the multi-agent systems with communication delay under general digraph based on linear fractional transformation and small-gain theorem
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