Multi-agent consensus with time-varying delays and switching topologies  

作　　者：Jia Wei Huajing Fang 

机构地区：[1]School of Automation, Huazhong University of Science and Technology [2]College of Engineering, Huazhong Agricultural University

出　　处：《Journal of Systems Engineering and Electronics》2014年第3期489-495,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(60874053;61034006)

摘　　要：The consensus problems of multi-agents with time-varying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and processes its own state information with time-varying self-delay respectively. The state time-delay feedback is introduced into the existing consensus protocol to begenerate an improved protocol. Then a sufficient condition is derived which can make the system with time-varying self-delays achieve the consensus. On this basis, a specific form of consensus equilibrium influenced by the initial states of agents, time-delays and state feedback intensity is figured out. In addition, the multi-agent consensus is considered with time-varying topologies. Finally, simulations are presented to il ustrate the validity of theoretical results.The consensus problems of multi-agents with time-varying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and processes its own state information with time-varying self-delay respectively. The state time-delay feedback is introduced into the existing consensus protocol to begenerate an improved protocol. Then a sufficient condition is derived which can make the system with time-varying self-delays achieve the consensus. On this basis, a specific form of consensus equilibrium influenced by the initial states of agents, time-delays and state feedback intensity is figured out. In addition, the multi-agent consensus is considered with time-varying topologies. Finally, simulations are presented to il ustrate the validity of theoretical results.

关 键 词：CONSENSUS multi-agent system time-varying delay switching topology convergence analysis. 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]