Open AccessOptimal consensus control of linear multi‐agent systems with communication time delay
Author(s) -
Sheng Jie,
Ding Zhengtao
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.2013.0478
Subject(s) - control theory (sociology) , eigenvalues and eigenvectors , laplacian matrix , consensus , convergence (economics) , discretization , mathematics , optimal control , linear system , multi agent system , computer science , laplace operator , mathematical optimization , control (management) , mathematical analysis , physics , quantum mechanics , artificial intelligence , economics , economic growth
This study investigates the consensus control of linear multi‐agent systems with communication time delay. Upon exploring certain features of Laplacian matrix, optimal consensus control conditions are identified using semi‐discretisation method that develops a mapping of the system response in a finite‐dimensional state space. Consensus region and consensus boundary can be obtained by comparing the maximum absolute value of the mapping's eigenvalues with 1. Besides, minimisation of the maximum absolute value of the eigenvalues leads to optimal control gains representing fastest convergence speed. The proposed control only uses relative state information of the system. Numerical simulations validate the proposed control design and show the performance with different control gains and time delays.