Consensus conditions for general second-order multi-agent systems with communication delay

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• 作者：Wenying Hou^a ; ^{wyhou_00@163.com}Author Vitae ; Minyue Fu^b ; ^c ; ^{Minyue.fu@newcastle.edu.au}Author Vitae ; Huanshui Zhang^a ; ^{hszhang@sdu.edu.cn}Author Vitae ; Zongze Wu^c ; ^{zzwu@scut.edu.cn}Author Vitae
• 关键词：Time-delay systems ; Multi-agent systems ; Frequency domain method ; Second-order consensus
• 刊名：Automatica
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：75
• 期：Complete
• 页码：293-298
• 全文大小：880 K
• 卷排序：75

文摘

This paper studies the consensus problem for a class of general second-order multi-agent systems (MASs) with communication delay. We first consider the delay-free case and obtain a necessary and sufficient condition for consensus. Then, based on the obtained conditions for the delay-free case, we deduce an explicit formula for the delay margin of the consensus for the case with time delay using the relationship between the roots of the characteristic equation and the time delay parameter. In addition, we consider the special case where the second-order model is a double integrator. For this case, simpler consensus conditions under communication delay are provided.