Leaderless and Leader-Following Consensus With Communication and Input Delays Under a Directed Network Topology

Author

Meng, Ziyang ; Ren, Wei ; Cao, Yongcan ; You, Zheng

Author_Institution

Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China

Volume

41

Issue

1

fYear

2011

Firstpage

75

Lastpage

88

Abstract

In this paper, time-domain (Lyapunov theorems) and frequency-domain (the Nyquist stability criterion) approaches are used to study leaderless and leader-following consensus algorithms with communication and input delays under a directed network topology. We consider both the first-order and second-order cases and present stability or boundedness conditions. Several interesting phenomena are analyzed and explained. Simulation results are presented to support the theoretical results.

Keywords

Lyapunov methods; Nyquist stability; delays; directed graphs; frequency-domain analysis; multi-agent systems; multi-robot systems; time-domain analysis; directed network topology; frequency domain approach; input delays; leader following consensus algorithm; leaderless consensus algorithm; multiagent system; time domain approach; Communication and input delays; consensus tracking; directed network graph; leaderless consensus; multiagent system;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/TSMCB.2010.2045891

Filename

5456144