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 language | English |
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Article number | 7428908 |
Pages (from-to) | 898-907 |
Number of pages | 10 |
Journal | IEEE Transactions on Cybernetics |
Volume | 47 |
Issue number | 4 |
DOIs | |
Publication status | Published - Apr 2017 |
Externally published | Yes |
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