Consensus of multi-agent systems via delayed and intermittent communications

This study investigates consensus problems for multi-agent systems with second-order dynamics under delayed and intermittent communication. A class of distributed control algorithms are proposed based on the relatively delayed and periodical intermittent information of neighbouring agents. Then, by...

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Bibliographic Details
Published in:IET control theory & applications Vol. 9; no. 1; pp. 62 - 73
Main Authors: Huang, Na, Duan, Zhisheng, Zhao, Yu
Format: Journal Article
Language:English
Published: The Institution of Engineering and Technology 02.01.2015
Subjects:
Asymptotic properties
communication duration
Control theory
delayed agent communications
delays
directed communication topology
distributed control algorithms
Dynamic tests
Dynamical systems
Exchange
Graph theory
intermittent agent communications
Lyapunov approach
Lyapunov methods
Multiagent systems
multi‐agent systems
multi‐robot systems
Neighbouring
second‐order dynamics
spanning tree
sufficient conditions
time delays
trees (mathematics)
multi-agent systems
intermittent agent communications
graph theory
trees (mathematics)
multi-robot systems
time delays
sufficient conditions
distributed control algorithms
Lyapunov approach
delays
second-order dynamics
directed communication topology
spanning tree
communication duration
delayed agent communications
Lyapunov methods
ISSN:1751-8644, 1751-8652
Online Access:Get full text
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Summary:This study investigates consensus problems for multi-agent systems with second-order dynamics under delayed and intermittent communication. A class of distributed control algorithms are proposed based on the relatively delayed and periodical intermittent information of neighbouring agents. Then, by using tools from Lyapunov approach and graph theory, it is proved that under intermittent and delayed communication, consensus can still be asymptotically achieved if some sufficient conditions are satisfied. Moreover, the relationship between time delays and communication duration over each control period is sought out. As an extension, consensus tracking problems are studied under a directed communication topology containing a spanning tree. Both the cases of partly and completely intermittent information exchange are dealt with. Finally, several simulation examples are provided to illustrate the effectiveness of the proposed theoretical analyses.
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ISSN:1751-8644
1751-8652
DOI:10.1049/iet-cta.2014.0729