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Consensus Of Multi-agent Systems With Time Delays

Posted on:2013-01-15Degree:MasterType:Thesis
Country:ChinaCandidate:Y M LiangFull Text:PDF
GTID:2218330371964754Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
Multi-agent systems can produce all sorts of collective actions as a whole by locally coordination control among multiple spatial autonomous agents. As one of the basic problems of the coordination control of multi-agent systems, consensus problem has attracted much attention of the researchers from various research societies, e.g., physics, biology, automatic control, etc. The nonignorable communication delay and input delay in the consensus coordination control of multi-agent systems have brought new challenge in the design and analysis of consensus algorithms.Based on algebraic graph theory, matrix theory, Lyapunov theorem, linear matrix inequality (LMI) and LaSalle invariance principle, consensus conditions under communication delay and input delay for multi-agent systems are analyzed. The main contributions of this dissertation can be summarized as follows:(1) Consensus seeking problem is investigated for the first-order multi-agent systems with time-varying communication delay and time-invariant input delay. By adopting variable transformation, the consensus problem of the multi-agent systems is converted into the asymptotical stability problem of an equivalent error system. Based on Lyapunov asymptotical stability theorem, sufficient conditions in the form of LMIs, which are dependent both on the communication delay and input delay are obtained for the multi-agent systems with static and connected interconnection topology converging to a consensus when the derivative information of the communication delay is given and unknown respectively.(2) Consensus problem for the heterogeneous multi-agent systems composed of first-order agents and second-order agents is studied. Sufficient and necessary consensus condition for the heterogeneous multi-agent systems under stationary consensus algorithms without time delay is derived by using algebraic graph theory and matrix analysis method. Then, stationary consensus problem is analyzed for the heterogeneous multi-agent systems with the interconnection topology switched among connected digraphs, and sufficient delay-dependent consensus condition is obtained for the multiple agents under stationary consensus algorithm with diverse time-varying input delays by utilizing Lyapunov stability theorem and LMI tool.(3) Based on the Lyapunov stability theorem and LaSalle invariance principle, sufficient consensus condition via nonlinear consensus algorithm for the first-order multi-agent systems with time-varying input delay is obtained when the directed interconnection topology is strongly connected. Furthermore, the above conclusion is extended to the case of weakly connected digraph by applying algebraic graph theory and matrix theory.
Keywords/Search Tags:multi-agent systems, consensus, communication delay, input delay, Lyapunov- Krasovskii functional
PDF Full Text Request
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