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

fYear

2007

Firstpage

577

Lastpage

581

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CHICC.2006.4347165

Filename

4347165