Title :
Consensus of multi-agent systems with time delay based on nonlinear algorithm
Author :
Liang, You-Ming ; Liu, Cheng-Lin ; Liu, Fei
Author_Institution :
Key Lab. of Adv. Process Control for Light Ind. (Minist. of Educ.), Jiangnan Univ., Wuxi, China
Abstract :
Based on nonlinear coupled algorithm, consensus problem of first-order multi-agent systems with time-varying input delay is investigated. Firstly, by utilizing Lyapunov theorem and LaSalle invariance principle, sufficient consensus condition for the multi-agent systems is obtained when the directed interconnection topology is strongly connected. Secondly, the above conclusion is extended to the case of weakly connected digraph by applying algebraic graph theory and matrix theory. Lastly, computer simulation examples are presented to demonstrate the effectiveness of the obtained results.
Keywords :
Lyapunov methods; delays; directed graphs; matrix algebra; multi-agent systems; nonlinear systems; time-varying systems; LaSalle invariance principle; Lyapunov theorem; algebraic graph theory; computer simulation; consensus problem; digraph; first order multiagent system; interconnection topology; matrix theory; nonlinear coupled algorithm; time delay; time varying input delay; Automation; Delay; Delay effects; Intelligent control; Laboratories; Laplace equations; Multiagent systems; consensus; input delay; multi-agent systems; nonlinear algorithm;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6358138
