Open AccessRobust consensus of linear systems on directed graph with non‐uniform delay
Author(s) -
Lee Dongjun
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.2016.0970
Subject(s) - algebraic graph theory , nyquist stability criterion , nyquist–shannon sampling theorem , control theory (sociology) , graph , robust control , directed graph , graph theory , algebraic number , constant (computer programming) , linear system , mathematics , computer science , connectivity , consensus , control (management) , control system , multi agent system , theoretical computer science , algorithm , combinatorics , artificial intelligence , electrical engineering , programming language , engineering , parametric statistics , mathematical analysis , statistics
The authors propose a consensus control framework for multiple heterogeneous general single‐input single‐output linear systems with no zeros at s = 0 on a directed information graph with constant, yet, non‐uniform and unknown delays. The proposed consensus control is easy to design via loop‐shaping like graphical approach, robust against plant uncertainty and constant delay, and completely decentralisable (i.e. locally synthesisable without consulting other agents). Consensus proof using multi‐input multi‐output Nyquist theorem and algebraic graph theory is given, with a numerical example to illustrate the theory.