Leader-following consensus of multi-agent systems with switching topologies and time-delays  

作　　者：Ling GUO Xiaohong NIAN Huan PAN 

机构地区：[1]School of Information Science and Engineering, Central South University

出　　处：《控制理论与应用（英文版）》2013年第2期306-310,共5页

基　　金：supported by the National Natural Science Foundation of China(Nos.61075065,60774045,U1134108);the Ph.D.Programs Foundation of Ministry of Education of China(No.20110162110041);Hunan Provincial Innovation Foundation For Postgraduate(No.CX2011B086)

摘　　要：This paper investigates the leader-following consensus problem of multi-agent systems where the leader is static and the controlling effect of each follower depends on its own state. The control protocols are proposed for two cases： i） for network with switching topologies and undirected information flow; ii） for network with directed information flow and communication time-delays. With the aid of several tools from algebraic graph, matrix theory and stability the- ory, the sufficient conditions guaranteeing leader-following consensus are obtained by constructing appropriate Lyapunov functions. Simulations are presented to demonstrate the effectiveness of our theoretical results.This paper investigates the leader-following consensus problem of multi-agent systems where the leader is static and the controlling effect of each follower depends on its own state. The control protocols are proposed for two cases： i） for network with switching topologies and undirected information flow; ii） for network with directed information flow and communication time-delays. With the aid of several tools from algebraic graph, matrix theory and stability the- ory, the sufficient conditions guaranteeing leader-following consensus are obtained by constructing appropriate Lyapunov functions. Simulations are presented to demonstrate the effectiveness of our theoretical results.

关 键 词：Leader-following consensus Multi-agent systems Switching topology TIME-DELAYS 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP18[自动化与计算机技术—控制科学与工程]