Consensus for a Class of Multiagent Systems With Time Delays: A Systematic Study in Parameter Space

This article considers the consensus of a general class of second-order multiagent systems (MASs) with time delays, where the controller is of the common proportional and derivative (PD) type. All the delay and the controller gains are treated as free parameters in this article, and our objective is...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2024-03, Vol.69 (3), p.1796-1803
Main Authors: Chen, Yu-Jiao, Li, Xu-Guang, Fan, Gao-Xia, Zhang, Yingwei
Format: Article
Language:English
Subjects:
Consensus
Controllers
Delay
Delay effects
Delays
Eigenvalues
Eigenvectors
heterogenous free parameters
Multi-agent systems
Multiagent systems
multiagent systems (MASs)
Parameters
PD control
Protocols
stability
Stability analysis
Taylor series
time delays
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Summary:This article considers the consensus of a general class of second-order multiagent systems (MASs) with time delays, where the controller is of the common proportional and derivative (PD) type. All the delay and the controller gains are treated as free parameters in this article, and our objective is to develop a parameter-space approach that has not been reported in the literature. First, we adopt the complete stability analysis w.r.t. delay under a given PD controller for the corresponding characteristic equations. Next, we divide the controller parameter plane. For each divided region, the type concerning the consensus property can be qualitatively determined. Combining the above steps, we present a parameter-space approach. By using this approach, we can qualitatively as well as quantitatively identify all the consensus set in the whole space of delay plus controller parameters. Finally, the effectiveness and advantage will be clearly demonstrated by examples.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2023.3327621