Title :
Effects of Delay in Multi-Agent Consensus and Oscillator Synchronization
Author :
Papachristodoulou, Antonis ; Jadbabaie, Ali ; Munz, Ulrich
Author_Institution :
Dept. of Eng. Sci., Univ. of Oxford, Oxford, UK
fDate :
6/1/2010 12:00:00 AM
Abstract :
The coordinated motion of multi-agent systems and oscillator synchronization are two important examples of networked control systems. In this technical note, we consider what effect multiple, non-commensurate (heterogeneous) communication delays can have on the consensus properties of large-scale multi-agent systems endowed with nonlinear dynamics. We show that the structure of the delayed dynamics allows functionality to be retained for arbitrary communication delays, even for switching topologies under certain connectivity conditions. The results are extended to the related problem of oscillator synchronization.
Keywords :
delays; distributed control; multi-agent systems; nonlinear dynamical systems; oscillators; synchronisation; arbitrary communication delays; connectivity conditions; consensus properties; coordinated motion; delay effects; delayed dynamics; large-scale multiagent systems; networked control systems; noncommensurate communication delays; nonlinear dynamics; oscillator synchronization; switching topologies; Closed loop systems; Communication switching; Control systems; Delay effects; Frequency synchronization; Identity-based encryption; Large-scale systems; Multiagent systems; Network topology; Networked control systems; Nonlinear dynamical systems; Nonlinear systems; Oscillators; Pacemakers; Stability; Delay effects; Lyapunov methods; multi-agent systems; networked control system; nonlinear systems; oscillator synchronization;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2010.2044274
