Open AccessDelay dependent criteria for the consensus of second‐order multi‐agent systems subject to communication delay
Author(s) -
Nejadvali Amir,
Esfanjani Reza Mahboobi,
Farnam Arash,
Crevecoeur Guillaume
Publication year - 2021
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12154
Subject(s) - control theory (sociology) , multi agent system , computer science , integrator , controller (irrigation) , sensitivity (control systems) , protocol (science) , consensus , transmission (telecommunications) , transmission delay , scheme (mathematics) , double integrator , order (exchange) , control (management) , mathematics , engineering , telecommunications , artificial intelligence , bandwidth (computing) , medicine , mathematical analysis , alternative medicine , pathology , finance , electronic engineering , agronomy , economics , biology
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.