Delay Robustness in Non-Identical Multi-Agent Systems

Author

Münz, Ulrich ; Papachristodoulou, Antonis ; Allgöwer, Frank

Author_Institution

Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart, Germany

Volume

57

Issue

6

fYear

2012

fDate

6/1/2012 12:00:00 AM

Firstpage

1597

Lastpage

1603

Abstract

We investigate the robustness of consensus protocols on sensor networks to different types of feedback delays. We provide set-valued conditions for consensus of linear Multi-Agent Systems (MAS) with nonidentical agent dynamics and heterogeneous delays. These conditions consider different feedback delay configurations and are robust and scalable to unknown, arbitrary large topologies and unknown but bounded self-delays and communication delays. Moreover, we provide consensus conditions for relative degree two MAS with different feedback delays in order to illustrate the applicability of these set-valued conditions.

Keywords

Nyquist criterion; delays; feedback; graph theory; linear systems; multi-agent systems; consensus protocols; delay robustness; feedback delays; heterogeneous delays; linear multiagent systems; nonidentical multiagent systems; sensor networks; set-valued conditions; Delay; Dynamics; Eigenvalues and eigenfunctions; Network topology; Robustness; Topology; Transfer functions; Consensus; delays; generalized Nyquist criterion; multi-agent systems (MAS);

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2011.2178336

Filename

6096370