Second-Order Consensus in Networks of Agents with Delayed Dynamics  

作　　者：YANG Bo FANG Huajing 

机构地区：[1]Wuhan Second Ship Design and Research Institute, Wuhan 430064, Hubei, China [2]Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, Hubei, China

出　　处：《Wuhan University Journal of Natural Sciences》2009年第2期158-162,共5页武汉大学学报（自然科学英文版）

基　　金：Supported by the National Natural Science Foundation of China (60574088, 60274014)

摘　　要：This paper proposes second-order consensus protocols and gives a measure of the robustness of the protocols to the time-delays existing in the dynamics of agents with second-order dynamics. By employing a frequency domain method, it is proven that the information states achieve second-order consensus asymptotically for appropriate time-delay if the topology of the network is connected. Particularly, a nonconservative upper bound on the fixed time-delay that can be tolerated is found. The consensus protocols are distributed in the sense that each agent only needs information from its neighboring agents, which makes the proposed protocols scalable. It reduces the complexity of connections among agents significantly. Simulation results are provided to verify the effectiveness of the theoretical results for second-order consensus in networks in the presence of time-delays existing in the dynamics of agents.This paper proposes second-order consensus protocols and gives a measure of the robustness of the protocols to the time-delays existing in the dynamics of agents with second-order dynamics. By employing a frequency domain method, it is proven that the information states achieve second-order consensus asymptotically for appropriate time-delay if the topology of the network is connected. Particularly, a nonconservative upper bound on the fixed time-delay that can be tolerated is found. The consensus protocols are distributed in the sense that each agent only needs information from its neighboring agents, which makes the proposed protocols scalable. It reduces the complexity of connections among agents significantly. Simulation results are provided to verify the effectiveness of the theoretical results for second-order consensus in networks in the presence of time-delays existing in the dynamics of agents.

关 键 词：second-order consensus protocols dynamic networks TIME-DELAYS frequency domain analysis 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论] TP393[自动化与计算机技术—计算机科学与技术]