Delay dependent criteria for the consensus of second‐order multi‐agent systems subject to communication delay

In this paper, a distributed controller is designed for the consensus of multi‐agent systems in which each agent has a general second‐order linear dynamic and the information is exchanged over a data‐delaying communication network. Using the sensitivity of system poles to the parameters of the contr...

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Bibliographic Details
Published inIET control theory & applications Vol. 15; no. 13; pp. 1724 - 1735
Main Authors Nejadvali, Amir, Esfanjani, Reza Mahboobi, Farnam, Arash, Crevecoeur, Guillaume
Format Journal Article
LanguageEnglish
Published Wiley 01.09.2021
Subjects
Control system analysis and synthesis methods
Distributed parameter control systems
Multivariable control systems
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Summary:In this paper, a distributed controller is designed for the consensus of multi‐agent systems in which each agent has a general second‐order linear dynamic and the information is exchanged over a data‐delaying communication network. Using the sensitivity of system poles to the parameters of the control protocol, graphical delay‐dependent synthesis conditions are derived to tune the controller gains. A systematic procedure is developed to attain maximum tolerable transmission delay in the system. Moreover, simpler condition is provided for the special case where the second‐order model is reduced to a double integrator. Simulation results are presented to illustrate the merits of the proposed scheme compared to some recent rival ones in the literature.
ISSN:1751-8644
1751-8652
DOI:10.1049/cth2.12154