Second-order consensus in networks of dynamic agents with communication time-delays  

作　　者：Bo Yang1,2, Huajing Fang3, and Hua Wang4 1. School of Navigation, Wuhan University of Technology, Wuhan 430063, P. R. China 2. Wuhan Second Ship Design and Research Institute, Wuhan 430064, P. R. China 3. Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, P. R. China 4. Department of Aerospace and Mechanical Engineering, Boston University, Boston MA02215, USA 

出　　处：《Journal of Systems Engineering and Electronics》2010年第1期88-94,共7页系统工程与电子技术（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 with time-delays and gives the measure of the robustness of the protocols to the time-delay existing in the network of agents with second-order dynamics. By employing a frequency domain method, it is proven that the information states and their time derivatives of all the agents in the network achieve consensus asymptotically, respectively, for appropriate communication timedelay if the topology of weighted network is connected. Particularly, a tight upper bound on the communication time-delay that can be tolerated in the dynamic network is found. The consensus protocols are distributed in the sense that each agent only needs information from its neighboring agents, which reduces the complexity of connections between neighboring agents significantly. Numerical simulation results are provided to demonstrate the effectiveness and the sharpness of the theoretical results for second-order consensus in networks in the presence of communication time-delays.This paper proposes second-order consensus protocols with time-delays and gives the measure of the robustness of the protocols to the time-delay existing in the network of agents with second-order dynamics. By employing a frequency domain method, it is proven that the information states and their time derivatives of all the agents in the network achieve consensus asymptotically, respectively, for appropriate communication timedelay if the topology of weighted network is connected. Particularly, a tight upper bound on the communication time-delay that can be tolerated in the dynamic network is found. The consensus protocols are distributed in the sense that each agent only needs information from its neighboring agents, which reduces the complexity of connections between neighboring agents significantly. Numerical simulation results are provided to demonstrate the effectiveness and the sharpness of the theoretical results for second-order consensus in networks in the presence of communication time-delays.

关 键 词：second-order consensus protocols dynamic networks algebraic graph theory frequency domain analysis com-munication constraints. 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]