Consensus Analysis for a Class of Heterogeneous Multiagent Systems with Time Delay Based on Frequency Domain Method

The consensus problem of heterogeneous multiagent systems composed of first-order and second-order agent is investigated. A linear consensus protocol is proposed. Based on frequency domain method, the sufficient conditions of achieving consensus are obtained. If communication topology contains spanning tree and some conditions can be satisfied on control gains, consensus can be achieved. Then, a linear consensus protocol with time delay is proposed. In this case, consensus is dependent only on system coupling strength, each agent input time delay, but independent of communication delay. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical result.

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Leader-Follower Consensus of Second-Order Multiagent Systems with Absent Velocity Measurement and Time Delay

Mathematical Problems in Engineering ◽

10.1155/2018/3079868 ◽

2018 ◽

Vol 2018 ◽

pp. 1-11

Author(s):

Panpan Yang ◽

Ye Tang ◽

Maode Yan ◽

Lei Zuo

Keyword(s):

Time Delay ◽

Multiagent Systems ◽

Velocity Measurement ◽

Sufficient Conditions ◽

Constant Time Delay ◽

Constant Time ◽

Time Varying ◽

Consensus Protocol ◽

Time Varying Delay ◽

Varying Delay

The leader-follower consensus problem of second-order multiagent systems with both absent velocity measurement and time delay is considered. First of all, the consensus protocol is designed by introducing an auxiliary system to compensate for the unavailability of the velocity information. Then, time delay is incorporated into the consensus protocol and two cases with, respectively, constant time delay and time-varying delay are investigated. For the case of constant time delay, Lyapunov-Razumikhin theorem is deployed to obtain the sufficient conditions that guarantee the stability of the consensus algorithm. For the case of time-varying delay, the sufficient conditions are also derived by resorting to the Lyapunov-Razumkhin theorem and linear matrix inequalities (LMIs). Various numerical simulations demonstrate the correctness of the theoretical results.

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Weighted Couple-Group Consensus Analysis of Heterogeneous Multiagent Systems with Cooperative-Competitive Interactions and Time Delays

Complexity ◽

10.1155/2019/8012890 ◽

2019 ◽

Vol 2019 ◽

pp. 1-13 ◽

Cited By ~ 5

Author(s):

Xingcheng Pu ◽

Chaowen Xiong ◽

Lianghao Ji ◽

Longlong Zhao

Keyword(s):

Time Delay ◽

Multiagent Systems ◽

Time Delays ◽

Multiagent System ◽

Experimental Simulation ◽

Group Consensus ◽

Consensus Protocol ◽

Consensus Analysis ◽

Communication Time ◽

Nyquist Criterion

In this paper, the weighted couple-group consensus of continuous-time heterogeneous multiagent systems with input and communication time delay is investigated. A novel weighted couple-group consensus protocol based on cooperation and competition interaction is designed, which can relax the in-degree balance condition. By using graph theory, general Nyquist criterion and Gerschgorin disc theorem, the time delay upper limit that the system may allow is obtained. The conclusions indicate that there is no relationship between weighted couple-group consensus and communication time delay. When the agents input time delay, the coupling weight between the agents, and the systems control parameters are satisfied, the multiagent system can converge to any given weighted coupling group consistent state. The experimental simulation results verify the correctness of the conclusion.

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