scholarly journals Containment Control of Heterogeneous Discrete-Time Multiagent Systems with Time Delay

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Jiawei Wu ◽  
Yongguang Yu ◽  
Guojian Ren
Keyword(s):  
Time Delay ◽  
Convex Hull ◽  
Multiagent Systems ◽  
Control Strategy ◽  
Topological Structure ◽  
Sufficient Conditions ◽  
Final Position ◽  
Containment Control ◽  
Reduced Order ◽  
Double Integrator

In this paper, the containment control of heterogeneous MASs with multi-interactional leaders is addressed. The objective of the containment control is of two layers. The leaders converge to an expected form; subsequently, the followers enter the convex hull spanned by the leader’s final position. To achieve the goal, the dynamics of the leaders and the followers are modeled by a single integrator and a double integrator, respectively. A reduced-order transformation is employed to obtain the sufficient conditions for realizing the follower agents’ control. In this manner, the maximum allowed time delay is given. Moreover, based on the topological structure and matrix, it confirms that the followers are able to enter the expected convex hull. Finally, the numerical simulation reveals the effectiveness of the control strategy.

scholarly journals Impulsive Containment Control in Nonlinear Multiagent Systems with Time-Delay

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Wenshan Hu ◽  
Zhenhua Wang ◽  
Zhi-Wei Liu ◽  
Hong Zhou
Keyword(s):  
Time Delay ◽  
Convex Hull ◽  
Multiagent Systems ◽  
Lyapunov Methods ◽  
Control Problems ◽  
Containment Control ◽  
Switching Topologies ◽  
Directed Paths

The containment control problems of nonlinear multiagent systems with time-delay via impulsive algorithms under both fixed and switching topologies are studied. By using the Lyapunov methods, several conditions are derived to achieve the containment control. It is shown that the states of the followers can converge into the convex hull spanned by the states of the leaders if every leader has directed paths to all the followers and the impulsive period is short enough. Finally, some simulations are conducted to verify the effectiveness of the proposed algorithms.

scholarly journals On the General Consensus Protocol in Multiagent Networks with Double-Integrator Dynamics and Coupling Time Delay

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Tao Dong ◽  
Xiaofeng Liao
Keyword(s):  
Time Delay ◽  
Matrix Theory ◽  
Sufficient Conditions ◽  
Consensus Algorithm ◽  
Directed Network ◽  
Consensus Protocol ◽  
Special Cases ◽  
Coupling Time ◽  
Almost All ◽  
Double Integrator

This paper considers the problem of the convergence of the consensus algorithm for multiple agents in a directed network where each agent is governed by double-integrator dynamics and coupling time delay. The advantage of this protocol is that almost all the existing linear local interaction consensus protocols can be considered as special cases of the present paper. By combining algebraic graph theory and matrix theory and studying the distribution of the eigenvalues of the associated characteristic equation, some necessary and sufficient conditions are derived for reaching the second-order consensus. Finally, an illustrative example is also given to support the theoretical results.

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

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Yi-Jie Sun ◽  
Guo-liang Zhang ◽  
Jing Zeng
Keyword(s):  
Time Delay ◽  
Frequency Domain ◽  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Frequency Domain Method ◽  
Consensus Protocol ◽  
Consensus Analysis ◽  
Domain Method ◽  
Communication Topology ◽  
System Coupling

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.

scholarly journals Distributed adaptive output feedback containment control for time-delay nonlinear multiagent systems

Automatica ◽  
2021 ◽  
Vol 127 ◽  
pp. 109545
Author(s):  
Yafeng Li ◽  
Ju H. Park ◽  
Changchun Hua ◽  
Guopin Liu
Keyword(s):  
Time Delay ◽  
Multiagent Systems ◽  
Output Feedback ◽  
Containment Control

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

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.

Consensus Analysis and Formation Control of Second-Order Multiagent Systems Via Nonlinear Protocol

2013 ◽  
Vol 8 (3) ◽  
Author(s):  
Huan Pan ◽  
Xiaohong Nian ◽  
Ling Guo
Keyword(s):  
Multiagent Systems ◽  
Invariance Principle ◽  
Control Strategy ◽  
Formation Control ◽  
Multiagent System ◽  
Sufficient Conditions ◽  
Second Order ◽  
General Linear ◽  
Communication Graph ◽  
Consensus Analysis

This paper mainly investigates consensus and formation control of second-order multiagent system with undirected communication graph. A nonlinear protocol is proposed as an extension of general linear protocols that have been widely studied. In order to achieve formation control, a formation control strategy corresponding to the nonlinear protocol is designed too. The sufficient conditions of consensus and formation are derived based on LaSalle's invariance principle. Simulation examples are provided to illustrate that the second-order multiagent with the nonlinear protocol can achieve consensus and formation.

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