Consensus of high-order multi-agent systems with large input and communication delays
Consensus of high-order multi-agent systems with large input and communication delays
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DOI：
10.1016/j.automatica.2013.12.006
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发表时间：
2014-02
期刊：
影响因子：
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通讯作者：
Bin Zhou;Zongli Lin
中科院分区：
文献类型：
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作者：
Bin Zhou;Zongli Lin
本文研究了多智能体系统的一致性问题，其中智能体的特征是通信网络和输入都具有时滞的高阶线性系统。假设智能体的开环动力学不是指数不稳定的，但可能是多项式不稳定的，并且通信拓扑包含有向生成树，建立了截断预测反馈方法来解决一致性问题.结果表明，如果延迟是常数，确切地知道，共识问题可以解决的完全状态反馈和基于观测器的输出反馈协议任意大而有界的延迟。如果进一步假设智能体的开环动力学仅包含零特征值，则允许延迟是时变的和未知的。数值例子说明了所提出的方法的有效性。
We study in this paper the consensus problem for multi-agent systems with agents characterized by high-order linear systems with time delays in both the communication network and inputs. Provided that the open-loop dynamics of the agents is not exponentially unstable, but may be polynomially unstable, and the communication topology contains a directed spanning tree, a truncated predictor feedback approach is established to solve the consensus problem. It is shown that, if the delays are constant and exactly known, the consensus problems can be solved by both full state feedback and observer based output feedback protocols for arbitrarily large yet bounded delays. If it is further assumed that the open-loop dynamics of the agents only contains zero eigenvalues, the delays are allowed to be time-varying and unknown. Numerical examples are worked out to illustrate the effectiveness of the proposed approaches.