Open AccessConsensus of swarm systems with time delays and topology uncertainties
Author(s) -
Xi Jianxiang,
Li Hailong,
Cai Ning,
Zhong Yisheng
Publication year - 2013
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/iet-cta.2010.0150
Subject(s) - swarm behaviour , control theory (sociology) , computer science , topology (electrical circuits) , network topology , mathematics , control (management) , artificial intelligence , computer network , combinatorics
Consensus problems for first‐order continuous‐time swarm systems in directed networks with time delays and topology uncertainties are dealt with. The state space of a swarm system is decomposed into a null space and a complement null space. By projecting the state of the system onto the two subspaces, a necessary and sufficient condition for consensus is proposed, and an explicit expression of the consensus function is shown based on the impacts of time delays and topology uncertainties. Sufficient conditions in terms of linear matrix inequalities are given for swarm systems with time‐varying delays and topology uncertainties to achieve consensus. Numerical examples are shown to demonstrate theoretical results.