Consensus of Single Integrator Multi-Agent Systems with Unbounded Transmission Delays
|
摘要
This paper investigates the consensus problem of single integrator multi-agent systems with unbounded time-varying transmission delays and fixed directed topology. A distributed controller is proposed taking into consideration the unbounded transmission delays. It is shown that the consensus problem can be solved via the proposed controller under the spanning tree assumption and the nocycle assumption. The authors characterize the no-cycle assumption and prove the consensus of the concerned multi-agent system with an induction procedure. Two simulation examples are provided,one to illustrate the effectiveness of our result and the other to show the necessity of the no-cycle assumption.
This paper investigates the consensus problem of single integrator multi-agent systems with unbounded time-varying transmission delays and fixed directed topology. A distributed controller is proposed taking into consideration the unbounded transmission delays. It is shown that the consensus problem can be solved via the proposed controller under the spanning tree assumption and the nocycle assumption. The authors characterize the no-cycle assumption and prove the consensus of the concerned multi-agent system with an induction procedure. Two simulation examples are provided,one to illustrate the effectiveness of our result and the other to show the necessity of the no-cycle assumption.
This paper investigates the consensus problem of single integrator multi-agent systems with unbounded time-varying transmission delays and fixed directed topology. A distributed controller is proposed taking into consideration the unbounded transmission delays. It is shown that the consensus problem can be solved via the proposed controller under the spanning tree assumption and the nocycle assumption. The authors characterize the no-cycle assumption and prove the consensus of the concerned multi-agent system with an induction procedure. Two simulation examples are provided,one to illustrate the effectiveness of our result and the other to show the necessity of the no-cycle assumption.
引文
[1]Cao YU,Fukunaga AS,Kahng A.Cooperative mobile robotics:Antecedents and directions.Autonomous robots.1997;4(1):7-27.
[2]Martinez S,Cortes J,Bullo F.Motion coordination with distributed information.IEEE Control System Magazine.2007;27(4):75-88.
[3]Ren W.Formation keeping and attitude alignment for multiple spacecraft through local interactions.Journal of Guidance,Control,and Dynamics.2007;30(2):633-638.
[4]Song C,Liu L,Feng G,Wang Y,Gao Q.Persistent awareness coverage control for mobile sensor networks.Automatica.2013;49(6):1867-1873.
[5]Olfati-Saber R,Fax JA,Murray RM.Consensus and cooperation in networked multi-agent systems.Proceedings of the IEEE.2007;95(1):215-233.
[6]Knorn S,Chen Z,Middleton RH.Overview:Collective control of multiagent systems.IEEETransactions on Control of Network Systems.2016;3(4):334-347.
[7]Moreau L.Stability of continuous-time distributed consensus algorithms.In:43rd IEEE Conference on Decision and Control,2004..vol.4.IEEE;2004.p.3998-4003.
[8]Moreau L.Stability of multiagent systems with time-dependent communication links.IEEETransactions on Automatic Control.2005;50(2):169-182.
[9]Ren W,Beard RW.Consensus seeking in multiagent systems under dynamically changing interaction topologies.IEEE Transactions on Automatic Control.2005;50(5):655-661.
[10]Olfati-Saber R,Murray RM.Consensus problems in networks of agents with switching topology and time-delays.IEEE Transactions on Automatic Control.2004;49(9):1520-1533.
[11]Scardovi L,Sepulchre R.Synchronization in networks of identical linear systems.Automatica.2009;45(11):2557-2562.
[12]Wieland P,Sepulchre R,Allg¨ower F.An internal model principle is necessary and sufficient for linear output synchronization.Automatica.2011;47(5):1068-1074.
[13]Gu K,Chen J,Kharitonov VL.Stability of time-delay systems.Springer Science&Business Media;2003.
[14]Richard JP.Time-delay systems:an overview of some recent advances and open problems.Automatica.2003;39(10):1667-1694.
[15]Tian YP,Liu CL.Consensus of multi-agent systems with diverse input and communication delays.IEEE Transactions on Automatic Control.2008;53(9):2122-2128.
[16]Munz U,Papachristodoulou A,Allgower F.Consensus in multi-agent systems with coupling delays and switching topology.IEEE Transactions on Automatic Control.2011;56(12):2976-2982.
[17]Wang X,Saberi A,Stoorvogel AA,Grip HF,Yang T.Consensus in the network with uniform constant communication delay.Automatica.2013;49(8):2461-2467.
[18]Xu X,Liu L,Feng G.Consensus of heterogeneous linear multiagent systems with communication time-delays.IEEE transactions on cybernetics.2017;47(8):1820-1829.
[19]Xu X,Liu L,Feng G.Consensus of Discrete-Time Linear Multiagent Systems With Communication,Input and Output Delays.IEEE Transactions on Automatic Control.2018;63(2):492-497.
[20]Liu X,Lu W,Chen T.Consensus of multi-agent systems with unbounded time-varying delays.IEEE Transactions on Automatic Control.2010;55(10):2396-2401.
[21]Wang X,Hong Y,Huang J,Jiang ZP.A distributed control approach to a robust output regulation problem for multi-agent linear systems.IEEE Transactions on Automatic Control.2010;55(12):2891-2895.
[22]Xu X,Liu L,Feng G.Consensus of homogeneous linear multi-agent systems with time-varying communication delays.In:24th Mediterranean Conference on Control and Automation(MED).IEEE;2016.p.599-604.
[23]Godsil C,Royle GF.Algebraic graph theory.vol.207.Springer Science&Business Media;2013.
[24]Sun YG,Wang L.Consensus of multi-agent systems in directed networks with nonuniform timevarying delays.IEEE Transactions on Automatic Control.2009;54(7):1607-1613.
[25]Khalil HK.Noninear systems.Prentice-Hall,New Jersey.1996;2(5):5-1.
[2]Martinez S,Cortes J,Bullo F.Motion coordination with distributed information.IEEE Control System Magazine.2007;27(4):75-88.
[3]Ren W.Formation keeping and attitude alignment for multiple spacecraft through local interactions.Journal of Guidance,Control,and Dynamics.2007;30(2):633-638.
[4]Song C,Liu L,Feng G,Wang Y,Gao Q.Persistent awareness coverage control for mobile sensor networks.Automatica.2013;49(6):1867-1873.
[5]Olfati-Saber R,Fax JA,Murray RM.Consensus and cooperation in networked multi-agent systems.Proceedings of the IEEE.2007;95(1):215-233.
[6]Knorn S,Chen Z,Middleton RH.Overview:Collective control of multiagent systems.IEEETransactions on Control of Network Systems.2016;3(4):334-347.
[7]Moreau L.Stability of continuous-time distributed consensus algorithms.In:43rd IEEE Conference on Decision and Control,2004..vol.4.IEEE;2004.p.3998-4003.
[8]Moreau L.Stability of multiagent systems with time-dependent communication links.IEEETransactions on Automatic Control.2005;50(2):169-182.
[9]Ren W,Beard RW.Consensus seeking in multiagent systems under dynamically changing interaction topologies.IEEE Transactions on Automatic Control.2005;50(5):655-661.
[10]Olfati-Saber R,Murray RM.Consensus problems in networks of agents with switching topology and time-delays.IEEE Transactions on Automatic Control.2004;49(9):1520-1533.
[11]Scardovi L,Sepulchre R.Synchronization in networks of identical linear systems.Automatica.2009;45(11):2557-2562.
[12]Wieland P,Sepulchre R,Allg¨ower F.An internal model principle is necessary and sufficient for linear output synchronization.Automatica.2011;47(5):1068-1074.
[13]Gu K,Chen J,Kharitonov VL.Stability of time-delay systems.Springer Science&Business Media;2003.
[14]Richard JP.Time-delay systems:an overview of some recent advances and open problems.Automatica.2003;39(10):1667-1694.
[15]Tian YP,Liu CL.Consensus of multi-agent systems with diverse input and communication delays.IEEE Transactions on Automatic Control.2008;53(9):2122-2128.
[16]Munz U,Papachristodoulou A,Allgower F.Consensus in multi-agent systems with coupling delays and switching topology.IEEE Transactions on Automatic Control.2011;56(12):2976-2982.
[17]Wang X,Saberi A,Stoorvogel AA,Grip HF,Yang T.Consensus in the network with uniform constant communication delay.Automatica.2013;49(8):2461-2467.
[18]Xu X,Liu L,Feng G.Consensus of heterogeneous linear multiagent systems with communication time-delays.IEEE transactions on cybernetics.2017;47(8):1820-1829.
[19]Xu X,Liu L,Feng G.Consensus of Discrete-Time Linear Multiagent Systems With Communication,Input and Output Delays.IEEE Transactions on Automatic Control.2018;63(2):492-497.
[20]Liu X,Lu W,Chen T.Consensus of multi-agent systems with unbounded time-varying delays.IEEE Transactions on Automatic Control.2010;55(10):2396-2401.
[21]Wang X,Hong Y,Huang J,Jiang ZP.A distributed control approach to a robust output regulation problem for multi-agent linear systems.IEEE Transactions on Automatic Control.2010;55(12):2891-2895.
[22]Xu X,Liu L,Feng G.Consensus of homogeneous linear multi-agent systems with time-varying communication delays.In:24th Mediterranean Conference on Control and Automation(MED).IEEE;2016.p.599-604.
[23]Godsil C,Royle GF.Algebraic graph theory.vol.207.Springer Science&Business Media;2013.
[24]Sun YG,Wang L.Consensus of multi-agent systems in directed networks with nonuniform timevarying delays.IEEE Transactions on Automatic Control.2009;54(7):1607-1613.
[25]Khalil HK.Noninear systems.Prentice-Hall,New Jersey.1996;2(5):5-1.