Title :
Distributed Consensus Control for Second-Order Agents with Fixed Topology and Time-Delay
Author :
Peng, Lin ; Yingmin, Jia ; Junping, Du ; Shiying, Yuan
Author_Institution :
Beihang Univ., Beijing
Abstract :
In this paper, distributed consensus control is investigated for networks of agents with double integrator dynamics. Two kinds of networks are analyzed, i.e., directed networks with fixed topology and undirected networks with fixed topology and time-delay. For each of the networks, a sufficient and necessary condition is given to guarantee the consensus. It is proved that the largest tolerable time-delay is only related to the largest eigenvalue of the graph Laplacian. Finally, two numerical examples are provided to illustrate the obtained results.
Keywords :
delay systems; eigenvalues and eigenfunctions; graph theory; multi-agent systems; telecommunication computing; telecommunication control; telecommunication network topology; distributed consensus control; double integrator dynamics; eigenvalue; fixed network topology; graph Laplacian; second-order agents; time-delay; undirected networks; Distributed control; Electronic mail; Graph theory; Laboratories; Laplace equations; Network topology; Telecommunication control; Telecommunication network topology; Tree graphs; Vehicle dynamics; Consensus; Double Integrator Dynamics; Fixed topology; Time-delay;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347165
