Exponential Consensus with Decay Rate Estimation for Heterogeneous Multi-Agent Systems

This paper presents an analysis method, based on linear matrix inequalities, for consensus with estimated convergence rate, in the presence of input delays. It is assumed that the delays are nonuniform, time-varying, and possibly non-differentiable. The proposed approach consists in rewriting the mu...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2019-08, Vol.95 (2), p.543-553
Main Authors: dos Santos Junior, Carlos R. P., Carvalho, José Reginaldo H., Souza, Fernando O., Savino, Heitor J.
Format: Article
Language:English
Subjects:
Analysis
Artificial Intelligence
Computer simulation
Control
Decay rate
Electrical Engineering
Engineering
Laws, regulations and rules
Linear matrix inequalities
Mathematical analysis
Matrix methods
Mechanical Engineering
Mechatronics
Model reduction
Multiagent systems
Numerical analysis
Rankings
Robotics
Robotics industry
Stability analysis
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Summary:This paper presents an analysis method, based on linear matrix inequalities, for consensus with estimated convergence rate, in the presence of input delays. It is assumed that the delays are nonuniform, time-varying, and possibly non-differentiable. The proposed approach consists in rewriting the multi-agent system as a reduced-order delayed linear system, such that consensus can be analyzed by means of Lyapunov-Krasovskii stability theory. Finally, the efficiency of the proposed method is verified by numerical simulations.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-018-0782-z