Consensus of Second-Order Delayed Multi-Agent Systems with Leader-Following

In this paper, a second-order consensus algorithm of multi-agent dynamical systems with leader-following is presented. With the hypothesis of a directed weighted connected graph composed of n agents together with a leader and the leader as a globally reachable node, the consensus algorithm with hete...

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Bibliographic Details
Published in:European journal of control 2010, Vol.16 (2), p.188-199
Main Authors: Yang, Hong-Yong, Zhu, Xun-Lin, Zhang, Si-Ying
Format: Article
Language:English
Subjects:
Asymmetric Coupling Weights
Consensus
Control algorithms
Directed Graph
Dynamical systems
Heterogeneous InputDelays
Leader-Following
Multi-Agent Systems
Second-Order
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Summary:In this paper, a second-order consensus algorithm of multi-agent dynamical systems with leader-following is presented. With the hypothesis of a directed weighted connected graph composed of n agents together with a leader and the leader as a globally reachable node, the consensus algorithm with heterogeneous input delays is studied in the frequency domain. By applying Gershgorin disc theorem and curvature theory, decentralized consensus conditions for the multi-agent systems with asymmetric coupling weights are obtained. Finally, a simulation example is used to show the design of the parameters and the validity of the result.
ISSN:0947-3580
1435-5671
DOI:10.3166/ejc.16.188-199