Consensus problem of general linear first-order multi-agent network under communication delay
Consensus problem of general linear first-order multi-agent network under communication delay
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DOI：
10.1109/acc.2016.7526053
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发表时间：
2016-07
期刊：
影响因子：
--
通讯作者：
Chenglin Liu;Fei Liu
中科院分区：
文献类型：
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作者：
Chenglin Liu;Fei Liu
采用通常的共识算法来解决一般线性一阶多智能体系统受通信延迟影响的共识问题。除了正常的同步耦合形式和异步耦合形式之外，我们为共识算法提出了一种新的基于补偿的形式。借助频域分析，分别获得了智能体在三种形式下达成渐近共识的共识条件。在动态一致性寻求方面，新的基于补偿的算法比同步耦合算法表现出更好的延迟鲁棒性。数值例子表明了我们结果的正确性。
Usual consensus algorithm is adopted to solve the consensus problem of general linear first-order multi-agent systems subjected to communication delay. In addition to normal synchronously-coupled form and asynchronously-coupled form, we proposed a new compensation-based form for the consensus algorithm. With the help of frequency-domain analysis, consensus conditions are obtained for the agents to achieve an asymptotic consensus under three forms respectively. In terms of the dynamical consensus seeking, the new compensation-based algorithm demonstrates better delay robustness than the synchronously-coupled algorithm. Numerical examples show the correctness of our results.