| 摘要: |
|
| 关键词: |
| DOI：10.1007/s11768-010-9184-x |
| Received:September 04, 2009Revised:September 04, 2009 |
| 基金项目:the National Natural Science Foundation of China (No.60674050, 60736022, 10972002, 60774089, 60704039). |
|
| Consensus of high-order dynamic multi-agent systems with switching topology and time-varying delays |
| Fangcui JIANG,Long WANG,Guangming XIE |
| (College of Engineering, Peking University) |
| Abstract: |
| This paper studies the consensus problems for a group of agents with switching topology and time-varying
communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus
protocol is proposed, which only depends on the agent’s own information and its neighbors’ partial information. By introducing
a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the
multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions
for the convergence to consensus are established, which provide the upper bounds on the admissible communication
delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the
group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable
linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group
of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results. |
| Key words: Consensus problems Distributed control Multi-agent systems Switching topology Time-varying delays Lyapunov-Krasovskii approach |
