A PD-Like Protocol with a Time Delay to Average Consensus Control for Multi-Agent Systems under an Arbitrarily Fast Switching Topology

Dong Wang, Ning Zhang, Jianliang Wang, Wei Wang

Research output: Journal PublicationArticlepeer-review

122 Citations (Scopus)

Abstract

This paper is concerned with the problem of average consensus control for multi-agent systems with linear and Lipschitz nonlinear dynamics under a switching topology. First, a proportional and derivative-like consensus algorithm for linear cases with a time delay is designed to address such a problem. By a system transformation, such a problem is converted to the stability problem of a switched delay system. The stability analysis is performed based on a proposed Lyapunov-Krasoversusii functional including a triple-integral term and sufficient conditions are obtained to guarantee the average consensus for multi-agent systems under arbitrary switching. Second, extensions to the Lipschitz nonlinear cases are further presented. Finally, numerical examples are given to illustrate the effectiveness of the results.

Original languageEnglish
Article number7428908
Pages (from-to)898-907
Number of pages10
JournalIEEE Transactions on Cybernetics
Volume47
Issue number4
DOIs
Publication statusPublished - Apr 2017
Externally publishedYes

Keywords

  • Average consensus
  • Multi-agent systems
  • Switching topology
  • Time delay

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering

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