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Predictive Consensus for Networked Multi‐Agent Systems with Switching Topology and Variable Delay
Author(s) -
Li ChangJiang,
Liu GuoPing
Publication year - 2019
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1781
Subject(s) - aperiodic graph , topology (electrical circuits) , control theory (sociology) , multi agent system , network topology , computer science , protocol (science) , consensus , scheme (mathematics) , model predictive control , distributed computing , mathematics , control (management) , computer network , artificial intelligence , medicine , alternative medicine , pathology , combinatorics , mathematical analysis
Abstract This paper investigates consensus problems of networked linear time invariant (LTI) multi‐agent systems, subject to variable network delays and switching topology. A new protocol is proposed for such systems with matrix B that has full row rank, based on stochastic, indecomposable, aperiodic (SIA) matrix and the predictive control scheme. With the predictive scheme the network delay is compensated. Consensus analysis based on the seminorm is provided. The conditions are obtained for such systems with periodic switching topology to reach consensus. The proposed protocol can deal with time‐varying delays, switching topology, and an unstable mode. The numerical examples demonstrate the effectiveness of the theoretical results.