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Consensus design for continuous-time multi-agent systems with communication delay |
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| Authors: | Zhenhua Wang Keyou You Juanjuan Xu Huanshui Zhang |
| Institution: | 1. School of Control Science and Engineering, Shandong University, Jinan, 250061, China 2. Department of Automation, Tsinghua University, Beijing, 100084, China 3. School of Control Science and Engineering, Shandong University, Jinan, 250061, China |
| Abstract: | This paper investigates a consensus design problem for continuous-time first-order multiagent systems with uniform constant communication delay. Provided that the agent dynamic is unstable and the diagraph is undirected, sufficient conditions are derived to guarantee consensus. The key technique is the adoption of historical input information in the protocol. Especially, when agent’s own historical input information is used in the protocol design, the consensus condition is constructed in terms of agent dynamic, communication delay, and the eigenratio of the network topology. Simulation result is presented to validate the effectiveness of the theoretical result. |
| Keywords: | Communication delay consensus protocol eigenratio historical input information multi-agent systems |
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