Consensus for high-order multi-agent systems with communication delay

作     者：Zhenhua WANG Huanshui ZHANG Minyue FU Huaxiang ZHANG 

作者机构：School of Information Science and Engineering Shandong Normal University Institute of Data Science and Technology Shandong Normal University School of Control Science and Engineering Shandong University School of Electrical Engineering and Computer Science University of Newcastle School of Automation Guangdong Key Laboratory of Io T Information TechnologyGuangdong University of Technology 

出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))

年 卷 期：2017年第60卷第9期

页      面：241-252页

核心收录：

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)] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by National Natural Science Foundation of China (Grant Nos. 61120106011, 61403235, 61573221, 61633014) Natural Science Foundation of Shandong Province (Grant Nos. ZR2014FQ011, BS2015DX016) 

主　　题：consensus communication delay historical input information parametric algebraic Riccati equa tion eigenratio 

摘      要：In this study, consensus problem for general high-order multi-agent systems with communication delay is investigated. Given the unstable agent dynamics and a known communication delay, two consensus protocols are designed to guarantee consensus over undirected network. By jointly researching the effects of agent dynamics and network topology, allowable delay bounds depending on the maxima of concave functions are easy to calculate. Especially, the maximum delay bound is derived when the network topology is completely connected. The main approach for the same involves designing the control gains on the basis of the solution of a parametric algebraic Riccati equation. Finally, the theoretical results are demonstrated via numerical simulations.