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Consensus realization for discrete-time multi-agent systems with delayed information
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DOI：10.1002/asjc.70058.png)
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Abstract
En 中文
This manuscript mainly addresses the consensus problem for first-order multi-agent systems over an undirected graph. The study considers unstable systems, where the communication delay affects only the neighbors' information. A distributed control protocol incorporating delayed information is proposed. Using the Jury stability criterion in the frequency domain, a necessary and sufficient condition for consensus under one-step delay is established. Additionally, time-domain techniques are employed to obtain sufficient conditions for consensus under any large yet bounded delay, which may be unknown and time-varying. Furthermore, the results of the scalar case are extended to high-order agent dynamics with a single unstable pole. Finally, three numerical examples are presented to verify the effectiveness of the proposed results.
Keywords:
communication delay
consensus
multi-agent systems
neighbors' information
undirected graph
Journal
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2.7
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553
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