On the General Consensus Protocol in Multiagent Networks with Double-Integrator Dynamics and Coupling Time Delay | Zendy

Tao Dong | Zendy; Xiaofeng Liao | Zendy

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On the General Consensus Protocol in Multiagent Networks with Double-Integrator Dynamics and Coupling Time Delay

Author(s) -

Tao Dong,

Xiaofeng Liao

Publication year - 2013

Publication title -

abstract and applied analysis

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.228

H-Index - 56

eISSN - 1687-0409

pISSN - 1085-3375

DOI - 10.1155/2013/590894

Subject(s) - mathematics , convergence (economics) , algebraic graph theory , eigenvalues and eigenvectors , consensus , dynamics (music) , double integrator , protocol (science) , integrator , algebraic connectivity , multi agent system , coupling (piping) , graph , algebraic number , graph theory , control theory (sociology) , laplacian matrix , computer science , discrete mathematics , mathematical analysis , combinatorics , alternative medicine , artificial intelligence , economic growth , computer network , bandwidth (computing) , pathology , acoustics , engineering , quantum mechanics , medicine , mechanical engineering , physics , economics , control (management)

This paper considers the problem of the convergence of the consensus algorithm for multiple agents in a directed network where each agent is governed by double-integrator dynamics and coupling time delay. The advantage of this protocol is that almost all the existing linear local interaction consensus protocols can be considered as special cases of the present paper. By combining algebraic graph theory and matrix theory and studying the distribution of the eigenvalues of the associated characteristic equation, some necessary and sufficient conditions are derived for reaching the second-order consensus. Finally, an illustrative example is also given to support the theoretical results

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