Consensus for high-order multi-agent systems with communication delay  

作　　者：Zhenhua WANG Huanshui ZHANG Minyue FU Huaxiang ZHANG 

机构地区：[1]School of Information Science and Engineering,Shandong Normal University,Jinan 250014,China [2]Institute of Data Science and Technology,Shandong Normal University,Jinan 250014,China [3]School of Control Science and Engineering,Shandong University,Jinan 250061,China [4]School of Electrical Engineering and Computer Science,University of Newcastle,NSW 2308,Australia [5]School of Automation,Guangdong Key Laboratory of IoT Information Technology,Guangdong University of Technology,Guangzhou 510006,China

出　　处：《Science China(Information Sciences)》2017年第9期237-248,共12页中国科学（信息科学）（英文版）

基　　金：supported by National Natural Science Foundation of China(Grant Nos.61120106011,61403235,61573221,61633014);Natural Science Foundation of Shandong Province(Grant Nos.ZR2014FQ011,BS2015DX016)

摘　　要：In this study, consensus problem for general high-order multi-agent systems with communication delay is investigated. Given the unstable agent dynamics and a known communication delay, two consensus protocols are designed to guarantee consensus over undirected network. By jointly researching the effects of agent dynamics and network topology, allowable delay bounds depending on the maxima of concave functions are easy to calculate. Especially, the maximum delay bound is derived when the network topology is completely connected. The main approach for the same involves designing the control gains on the basis of the solution of a parametric algebraic Riccati equation. Finally, the theoretical results are demonstrated via numerical simulations.In this study, consensus problem for general high-order multi-agent systems with communication delay is investigated. Given the unstable agent dynamics and a known communication delay, two consensus protocols are designed to guarantee consensus over undirected network. By jointly researching the effects of agent dynamics and network topology, allowable delay bounds depending on the maxima of concave functions are easy to calculate. Especially, the maximum delay bound is derived when the network topology is completely connected. The main approach for the same involves designing the control gains on the basis of the solution of a parametric algebraic Riccati equation. Finally, the theoretical results are demonstrated via numerical simulations.

关 键 词：CONSENSUS communication delay historical input information parametric algebraic Riccati equa-tion eigenratio 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP311.5[自动化与计算机技术—控制科学与工程]