Title :
Leader-following consensus of heterogeneous multi-agent systems with input delays
Author :
Jie Chen ; Zhi-Hong Guan ; Ding-Xue Zhang ; Li Ding
Author_Institution :
Coll. of Autom., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
In this paper, a leader-following consensus problem of heterogenous multi-agent system with different input delays is investigated. The heterogeneous multi-agent system is composed of first-order and second-order integrator agents. By applying the graph theory and the frequency domain analysis method, a sufficient condition is established to guarantee that each agent can track the leader when the communication topology is symmetric coupling. Simulation result is provided to demonstrate the effectiveness of the theoretical results.
Keywords :
control system analysis; delays; graph theory; multi-agent systems; multi-robot systems; agent tracking; communication topology; first-order integrator agents; frequency domain analysis method; graph theory; heterogeneous multiagent systems; input delays; leader-following consensus problem; second-order integrator agents; sufficient condition; symmetric coupling; Couplings; Delays; Educational institutions; Lead; Multi-agent systems; Protocols; Topology; Input Delays; Leader-Following Consensus; Multi-Agent Systems;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
