Second-Order Consensus for Multi-Agent Systems With Time-Varying Delays Based on Delay-Partitioning

Qi Cui,Yujuan Zheng,Jie Sun,Zhanshan Zhao

doi:10.1109/access.2020.2989558

Qi Cui, Yujuan Zheng + Show 2 more

Open Access

https://doi.org/10.1109/access.2020.2989558

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Journal: IEEE Access	Publication Date: Jan 1, 2020
Citations: 5	License type: CC BY 4.0

Affiliation: Tianjin Polytechnic University

Abstract

A consensus problem for second-order agents network with time-varying delays under the directed fixed topology is investigated in this paper. For the convenience of analysing, the original system is converted into an equivalent system associated with disagreement terms. By applying a variable delay-partitioning method, increased computational complexity is solved and obtain less conservatism. A suitable Lyapunov-Krasovskii functional (LKF) is constructed, combining the reciprocally convex combination lemmas with Wirtinger-based inequality to deal with integral items for the derivative of the LKF and further reduce the conservatism. Following the linear matrix inequality theory, a sufficient condition is presented to make all agents asymptotically reach consensus. Finally, simulations are given to illustrate the effectiveness of the proposed results.

Highlights

In the past few decades, distributed cooperative control of multi-agent systems have attracted more and more research interest and widely applied to various fields such as sensor networks [1], [2], formation control [3], [4], consensus problem [5]–[8], group synchronization [9], spacecraft attitude tracking control [10], [11], distributed optimization calculation and control engineering
As one of the key problems of distributed cooperative control, the consensus problem means that a group of agents reaches consensus on a certain physical quantity based on local interaction rules
Qin et al in [25] employed a delay-partitioning approach to process the time-invariant delays of second-order agents system and proved that the conservatism of the system could be reduced with the number of delay interval divisions increasing

Summary

INTRODUCTION

In the past few decades, distributed cooperative control of multi-agent systems have attracted more and more research interest and widely applied to various fields such as sensor networks [1], [2], formation control [3], [4], consensus problem [5]–[8], group synchronization [9], spacecraft attitude tracking control [10], [11], distributed optimization calculation and control engineering. Q. Cui et al.: Second-Order Consensus for Multi-Agent Systems With Time-Varying Delays. Qin et al in [25] employed a delay-partitioning approach to process the time-invariant delays of second-order agents system and proved that the conservatism of the system could be reduced with the number of delay interval divisions increasing. Inspired by the above-mentioned work, we study consensus for second-order agents networks with time-varying delays under the directed fixed topology. Compared with the traditional delay-partitioning idea, the advantage of this method is that it can reduce both computational complexity and system conservatism Another contribution is that using the reciprocally convex combination lemmas and Wirtingerbased inequality in the LKF, which is used to analyze the stability of multi-agent systems. For any matrices A, B of appropriate dimension, the matrix diag{A, B} means the diagonal matrix

PRELIMINARIES

SIMULATION RESULTS

CONCLUSION