Title :
Formation control of second-order multi-agent with diverse delays
Author :
Hong-yong, Yang ; Qi-ming, Liu
Author_Institution :
Sch. of Comput. Sci. & Technol., Ludong Univ., Yantai, China
Abstract :
In this paper, a consensus algorithm of multi-agent second-order dynamics system is proposed. The formation control of mobile multi-agent system is studied by introducing the communication delays and input delays. A consensus result is obtained by the hypothesis of directed network topology with globally reachable node, and a sufficient condition to ensure the formation control of the delayed system is presented by applying generalized Nyquist criterion. Finally, the validity of the results is shown by computer simulation.
Keywords :
Nyquist criterion; delay systems; multi-agent systems; network topology; Nyquist criterion; communication delays; formation control; network topology; second-order multi-agent system; Communication system control; Computer science; Computer simulation; Control systems; Delay effects; Delay systems; Mobile communication; Multiagent systems; Network topology; Sufficient conditions; Diverse delays; Formation control; Multi-agent; Second-order system;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5193605
