Consensus on Intervals of Communication Delay

作     者：Heitor J.Savino Fernando O.Souza Luciano C.A.Pimenta 

作者机构：Graduate Program in Electrical Engineering Federal University of Minas Gerais Institute of Computing Federal University of Alagoas Department of Electronic Engineering Federal University of Minas Gerais 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2018年第15卷第1期

页      面：13-24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 the Brazilian agencies CNPq CAPES and FAPEMIG 

主　　题：Time delay systems multi-agent systems consensus communication delay roots location. 

摘      要：This paper brings out a structured methodology for identifying intervals of communication time-delay where consensus in directed networks of multiple agents with high-order integrator dynamics is achieved. It is built upon the stability analysis of a transformed consensus problem which preserves all the nonzero eigenvalues of the Laplacian matrix of the associated communication topology graph. It is shown that networks of agents with first-order integrator dynamics can be brought to consensus independently of communication delay, on the other hand, for agents with second-order integrator dynamics, the consensus is achieved independently of communication delay only if certain conditions axe satisfied. Conversely, if such conditions axe not satisfied, it is shown how to compute the intervals of communication delay where multiple agents with second-order or higher-order can be brought to consensus. The paper is ended by showing an interesting example of a network of agents with second-order integrator dynamics which is consensable on the first time-delay interval, but as the time-delay increases, it loses consensability on the second time-delay interval, then it becomes consensable again on the third time-delay interval, and finally it does not achieve consensus any more on the fourth time-delay interval. This example shows the importance of analyzing consensus with time-delay in different intervals.