scholarly journals Consensus of Multiagent Systems with Directed Topology and Communication Time Delay Bases on the Laplace Transform

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Bo Liu ◽  
Li Wang ◽  
Dehui Sun ◽  
Xinmao Zhu
Keyword(s):  
Time Delay ◽  
Laplace Transform ◽  
Multiagent Systems ◽  
Consensus Problem ◽  
Directed Topology ◽  
Communication Time ◽  
The Laplace Transform ◽  
Initial States ◽  
Directed Topologies ◽  
Theoretical Results

This paper investigates the consensus problem of multiagent systems with directed topologies. Different from the literatures, a new method, the Laplace transform, to study the consensus of multiagent systems with directed topology and communication time delay is proposed. The accurate state of the consensus center and the upper bound of the communication delay to make the agents reach consensus are given. It is proved that all the agents could aggregate and eventually form a cohesive cluster in finite time under certain conditions, and the consensus center is only determined by the initial states and the communication configuration among the agents. Finally, simulations are given to illustrate the theoretical results.

Multiconsensus of first-order multiagent systems with directed topologies

2020 ◽  
Vol 34 (23) ◽  
pp. 2050240
Author(s):  
Xiao-Wen Zhao ◽  
Guangsong Han ◽  
Qiang Lai ◽  
Dandan Yue
Keyword(s):  
Multiagent Systems ◽  
Matrix Theory ◽  
Sufficient Conditions ◽  
Consensus Problem ◽  
Multiple Agents ◽  
First Order ◽  
The Matrix ◽  
Directed Topologies ◽  
Necessary And Sufficient ◽  
Theoretical Results

The multiconsensus problem of first-order multiagent systems with directed topologies is studied. A novel consensus problem is introduced in multiagent systems — multiconsensus. The states of multiple agents in each subnetwork asymptotically converge to an individual consistent value in the presence of information exchanges among subnetworks. Linear multiconsensus protocols are proposed to solve the multiconsensus problem, and the matrix corresponding to the protocol is designed. Necessary and sufficient conditions are derived based on matrix theory, under which the stationary multiconsensus and dynamic multiconsensus can be reached. Simulations are provided to demonstrate the effectiveness of the theoretical results.

scholarly journals Group Consensus of Heterogeneous Multiagent Systems with Time Delay

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Weixun Li ◽  
Liqiong Zhang
Keyword(s):  
Time Delay ◽  
Multiagent Systems ◽  
Control Algorithm ◽  
Sufficient Conditions ◽  
Lyapunov Stability Theory ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Group Consensus ◽  
Communication Time ◽  
Theoretical Results

In this paper, a neighbour-based control algorithm of group consensus is designed for a class of hybrid-based heterogeneous multiagent systems with communication time delay. We consider the statics leaders and active leaders, respectively. The original systems are transformed into new error systems by transformation. On the basis of the systems, applying Lyapunov stability theory and adopting the linear matrix inequality method, sufficient conditions which guarantee the heterogeneous multiagent systems stability are obtained. To illustrate the validity of theoretical results, some numerical simulations are given at the end of the paper.

scholarly journals Swarming Behaviors in Multiagent Systems with Nonlinear Dynamics and Aperiodically Intermittent Communication

2019 ◽  
Vol 2019 ◽  
pp. 1-9
Author(s):  
Anding Dai ◽  
Yicheng Liu ◽  
Dongyun Yi ◽  
Peiying Xiong
Keyword(s):  
Nonlinear Dynamics ◽  
Time Delay ◽  
Multiagent Systems ◽  
Finite Time ◽  
Upper Bounds ◽  
Time Intervals ◽  
Communication Time ◽  
The Stability ◽  
Intermittent Communication ◽  
Theoretical Results

This paper investigates the stability of a class of swarm model with nonlinear dynamics and aperiodically intermittent communication. Different from previous works, it assumes that the agents obtain information from the neighbors at a series of aperiodically time intervals. Moreover, nonlinear dynamics and time delay are considered. It finds that all agents in a swarm can reach cohesion within a finite time under discontinuous communication, where the upper bounds of cohesion depend on the parameters of the swarm model and communication time. A numerical example is given to demonstrate the validity of the theoretical results.

scholarly journals Consensus of Fractional-Order Multiagent Systems with Nonuniform Time Delays

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Jun Liu ◽  
Kaiyu Qin ◽  
Wei Chen ◽  
Ping Li ◽  
Mengji Shi
Keyword(s):  
Multiagent Systems ◽  
Fractional Order ◽  
Time Delays ◽  
External Environment ◽  
Domain Theory ◽  
Dynamical Model ◽  
Integer Order ◽  
The Laplace Transform ◽  
Simulation Results ◽  
Theoretical Results

Due to the complex external environment, many multiagent systems cannot be precisely described or even cannot be described by an integer-order dynamical model and can only be described by a fractional-order dynamical model. In this paper, consensus problems are investigated for two types of fractional-order multiagent systems (FOMASs) with nonuniform time delays: FOMAS with symmetric time delays and undirected topology and FOMAS with asymmetric time delays and directed topology. Employing the Laplace transform and the frequency-domain theory, two delay margins are obtained to guarantee the consensus for the two types of FOMAS, respectively. These results are also suitable for the integer-order dynamical model. Finally, simulation results are provided to illustrate the effectiveness of our theoretical results.

scholarly journals Bipartite Consensus of Heterogeneous Multiagent Systems Based on Distributed Event-Triggered Control

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14 ◽  
Author(s):  
Xiaoyu Wang ◽  
Kaien Liu ◽  
Zhijian Ji ◽  
Shitao Han
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Input Delay ◽  
Consensus Problem ◽  
Consensus Protocol ◽  
Control Scheme ◽  
Event Triggering ◽  
Bipartite Consensus ◽  
Theoretical Results ◽  
Event Triggered

In this paper, the bipartite consensus problem of heterogeneous multiagent systems composed of first-order and second-order agents is considered by utilizing the event-triggered control scheme. Under structurally balanced directed topology, event-triggered bipartite consensus protocol is put forward, and event-triggering functions consisting of measurement error and threshold are designed. To exclude Zeno behavior, an exponential function is introduced in the threshold. The bipartite consensus problem is transformed into the corresponding stability problem by means of gauge transformation and model transformation. By virtue of Lyapunov method, sufficient conditions for systems without input delay are obtained to guarantee bipartite consensus. Furthermore, for the case with input delay, sufficient conditions which include an admissible upper bound of the delay are obtained to guarantee bipartite consensus. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.

scholarly journals Consensus of Multiagent Networks with Intermittent Interaction and Directed Topology

2014 ◽  
Vol 2014 ◽  
pp. 1-6
Author(s):  
Li Xiao
Keyword(s):  
Environmental Changes ◽  
Sufficient Conditions ◽  
Consensus Problem ◽  
Directed Topology ◽  
Control Approach ◽  
Interaction Control ◽  
Multiagent Networks ◽  
Lyapunov Control ◽  
Limited Sensing ◽  
Theoretical Results

Intermittent interaction control is introduced to solve the consensus problem for second-order multiagent networks due to the limited sensing abilities and environmental changes periodically. And, we get some sufficient conditions for the agents to reach consensus with linear protocol from the theoretical findings by using the Lyapunov control approach. Finally, the validity of the theoretical results is validated through the numerical example.

Containment control of second-order multi-agent systems with directed topology and time-delays

Kybernetes ◽  
2014 ◽  
Vol 43 (8) ◽  
pp. 1248-1261 ◽  
Author(s):  
Bin Qi ◽  
Xuyang Lou ◽  
Baotong Cui
Keyword(s):  
Time Delay ◽  
Time Delays ◽  
Second Order ◽  
Multi Agent Systems ◽  
Containment Control ◽  
Content Type ◽  
Directed Topology ◽  
Agent Systems ◽  
Communication Time ◽  
Multi Agent

Purpose – The purpose of this paper is to discuss the impacts of the communication time-delays to the distributed containment control of the second-order multi-agent systems with directed topology. Design/methodology/approach – A basic theoretical analysis is first carried out for the containment control of the second-order multi-agent systems under directed topology without communication time-delay and a sufficient condition is proposed for the achievement of containment control. Based on the above result and frequency-domain analysis method, a sufficient condition is also derived for the achievement of containment control of the second-order multi-agent systems under directed topology with communication time-delays. Finally, simulation results are presented to support the effectiveness of the theoretical results. Findings – For the achievement of containment control of the second-order multi-agent systems under directed topology with communication time-delay, the control gain in the control protocols is completely dependent on the communication topology structure and the maximum of time-delay in the control protocols is dependent on the given control gain and communication topology structure. Originality/value – The paper investigates the containment control of the second-order multi-agent systems under directed topology with communication time-delays and presents a sufficient conditions for the achievement of containment control. The results and approach proposed in the paper may benefit interesting researchers.

scholarly journals Consensus Learning Control for Leader-Following Nonlinear Multiagent Systems with Control Delay

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Xiongfeng Deng ◽  
Xiuxia Sun ◽  
Shuguang Liu
Keyword(s):  
Time Delay ◽  
Multiagent Systems ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Control Delay ◽  
Consensus Tracking ◽  
Control Scheme ◽  
Communication Topology ◽  
Leader Following ◽  
Theoretical Results

In this paper, the consensus tracking problem of leader-following nonlinear control time-delay multiagent systems with directed communication topology is addressed. An improved high-order iterative learning control scheme with time-delay is proposed, where the local information between agents is considered. The uniformly global Lipschitz condition is applied to deal with the nonlinear dynamics. Then, a sufficient condition is driven, which guarantees that all the following agents track the trajectory of leader. Also, the convergence of proposed control protocol is analyzed by the norm theory. Finally, two cases are provided to illustrate the validity of theoretical results.

scholarly journals Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies

2015 ◽  
Vol 2015 ◽  
pp. 1-6 ◽  
Author(s):  
Wei Liu ◽  
Shaolei Zhou ◽  
Shi Yan ◽  
Gaoyang Yin
Keyword(s):  
Multiagent Systems ◽  
Special Property ◽  
Laplacian Matrix ◽  
Graph Laplacian ◽  
Consensus Problem ◽  
Time Intervals ◽  
Fast Switching ◽  
Switching Topologies ◽  
Directed Spanning Tree ◽  
Theoretical Results

This paper investigates the robust leaderless consensus problem of uncertain multiagent systems with directed fast switching topologies. The topologies are assumed to jointly contain a directed spanning tree. Based on a special property of the graph Laplacian matrix, the consensus problem is converted into a stabilization problem by performing a proper variable transformation. Averaging method is employed for analysis. It is proved that if the topologies switch sufficiently fast and the controllers are properly designed, the robust leaderless consensus can still be achieved even when all the possible topologies are unconnected in the switching time intervals. Finally, a numerical simulation is provided to illustrate the effectiveness of the theoretical results.

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