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

Science China(Information Sciences) 2017年第9期60卷 241-252页

作者： Zhenhua WANG Huanshui ZHANG Minyue FU Huaxiang ZHANG 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

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.

关键词： consensus communication delay historical input information parametric algebraic Riccati equa tion eigenratio

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CONSENSUS DESIGN FOR CONTINUOUS-TIME MULTI-AGENT SYSTEMS WITH COMMUNICATION DELAY

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Journal of Systems Science & Complexity 2014年第4期27卷 701-711页

作者： WANG Zhenhua YOU Keyou XU Juanjuan ZHANG Huanshui School of Control Science and Engineering Shandong University Department of Automation Tsinghua University

This paper investigates a consensus design problem for continuous-time first-order multiagent systems with uniform constant communication *** that the agent dynamic is unstable and the diagraph is undirected,sufficient conditions are derived to guarantee *** key technique is the adoption of historical input information in the ***,when agent's own historical input information is used in the protocol design,the consensus condition is constructed in terms of agent dynamic,communication delay,and the eigenratio of the network *** result is presented to validate the effectiveness of the theoretical result.

关键词： Communication delay consensus protocol eigenratio historical input information multi-agent systems.

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Exact Consensus Error for Multi-agent Systems with Additive Noises

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Journal of Systems Science & Complexity 2020年第3期33卷 640-651页

作者： SUN Huifang WANG Zhongmei XU Juanjuan ZHANG Huanshui School of Control Science and Engineering Shandong UniversityJinan 217923China Research Center for Dynamics and Control Science Business SchoolShandong Normal UniversityJinan 250014China

In this paper,the consensus problem is investigated for discrete-time multi-agent systems with additive process *** to the presence of additive noises in the system dynamics,consensus cannot be *** main contribution of this paper is to give the exact consensus *** particular,control gain depending on the agent dynamics and network topology is designed based on the technique dealing with the simultaneous ***,a numerical simulation is provided to demonstrate the effectiveness of the proposed theoretical results.

关键词： Additives noises consensus error eigenratio multi-agent systems network topology

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