Open AccessExponential consensus for hierarchical multi‐agent systems with switching topology and inter‐layer communication delay
Author(s) -
Duan Zhaoxia,
Zhai Guisheng,
Xiang Zhengrong
Publication year - 2016
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.2015.0548
Subject(s) - dwell time , topology (electrical circuits) , network topology , control theory (sociology) , multi agent system , exponential stability , exponential growth , lyapunov function , computer science , graph theory , consensus , state (computer science) , graph , upper and lower bounds , mathematics , algorithm , control (management) , theoretical computer science , nonlinear system , artificial intelligence , computer network , medicine , clinical psychology , mathematical analysis , physics , combinatorics , quantum mechanics
This study studies the exponential state consensus problem for hierarchical multi‐agent dynamical systems with switching topology and inter‐layer communication delay. A Lyapunov function is introduced to quantify the total disagreement among the nodes of a hierarchical multi‐agent system. By using the stability theory of switched system and graph theory of hierarchical network topology, delay dependent sufficient conditions are proposed to achieve the exponential hierarchical average consensus with the average dwell time of the switching law larger than a minimum bound. Illustrative examples are provided to verify the effectiveness of the proposed approach.