Discontinuous cooperative control for consensus of multiagent systems with switching topologies and time-delays

Author

Jing Wang ; Obeng, Morrison ; Zhihua Qu ; Tianyu Yang ; Staskevich, Gennady ; Abbe, Brian

Author_Institution

Sch. of Sci., Bethune-Cookman Univ., Daytona Beach, FL, USA

fYear

2013

fDate

10-13 Dec. 2013

Firstpage

7333

Lastpage

7338

Abstract

In this paper, we propose a discontinuous cooperative control for consensus of multiagent systems with directed and switching sensing/communication topologies and time-delays. By introducing a new design for nonlinear cooperative control gains, multiagent system consensus can be guaranteed in the presence of switching topologies and time-delays. System convergence analysis is done by employing a new contraction mapping method. Simulation examples are provided to illustrate the effectiveness of the proposed design.

Keywords

control system synthesis; convergence; delays; multi-agent systems; nonlinear control systems; sampled data systems; topology; contraction mapping method; directed topologies; discontinuous cooperative control; multiagent system consensus; nonlinear cooperative control gain design; switching communication topologies; switching sensing topologies; system convergence analysis; time-delays; Controllability; Multi-agent systems; Network topology; Sensors; Switches; Topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on

Conference_Location

Firenze

ISSN

0743-1546

Print_ISBN

978-1-4673-5714-2

Type

conf

DOI

10.1109/CDC.2013.6761053

Filename

6761053