Second-Order Consensus in Networks of Agents with Delayed Dynamics

作     者：YANG Bo FANG Huajing 

作者机构：Wuhan Second Ship Design and Research Institute Wuhan 430064 Hubei China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China 

出 版 物：《Wuhan University Journal of Natural Sciences》 (武汉大学学报（自然科学英文版）)

年 卷 期：2009年第14卷第2期

页      面：158-162页

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0835[工学-软件工程] 081201[工学-计算机系统结构] 081202[工学-计算机软件与理论] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Supported by the National Natural Science Foundation of China (60574088  60274014) 

主　　题：second-order consensus protocols dynamic networks time-delays frequency domain analysis 

摘      要：This paper proposes second-order consensus protocols and gives a measure of the robustness of the protocols to the time-delays existing in the dynamics of agents with second-order dynamics. By employing a frequency domain method, it is proven that the information states achieve second-order consensus asymptotically for appropriate time-delay if the topology of the network is connected. Particularly, a nonconservative upper bound on the fixed time-delay that can be tolerated is found. The consensus protocols are distributed in the sense that each agent only needs information from its neighboring agents, which makes the proposed protocols scalable. It reduces the complexity of connections among agents significantly. Simulation results are provided to verify the effectiveness of the theoretical results for second-order consensus in networks in the presence of time-delays existing in the dynamics of agents.