Consensus of Multi-Agent Systems With Diverse Input and Communication Delays

• Published in: IEEE transactions on automatic control Vol. 53; no. 9; pp. 2122 - 2128
• Main Authors: TIAN, Yu-Ping, LIU, Cheng-Lin
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.10.2008; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Agents (artificial intelligence); Applied sciences; Artificial intelligence; Automatic control; Autonomous agents; Centralized control; Communication delays; Computer science; control theory; systems; Computer systems and distributed systems. User interface; consensus; Context; Decentralized; Delay; Delay effects; Delay systems; Exact sciences and technology; Expert systems; Frequency domain analysis; Graph theory; Graphs; group cooperation; input delays; Mobile communication; multi-agent system; Multiagent systems; Protocols; Software; Topology; group cooperation; input delays; multi-agent system; Frequency domain method; Distributed system; Consensus; Transmission time; Delay; Multiagent system; Team work; Communication delays; Digraph; Communication graph; Artificial intelligence; Directed graph; Non directed graph
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2008.930184

The consensus problem for multi-agent systems with input and communication delays is studied based on the frequency-domain analysis. Two decentralized consensus conditions are obtained, one of which is given for the systems based on undirected graphs with diverse input delays and the other is for the systems based on directed graphs with diverse communication delays and input delays. For the systems with both communication delays and input delays, the consensus condition is dependent on input delays but independent of communication delays.