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H2 consensus control of time-delayed multi-agent systems: A frequency-domain method.

Fei Ye1, Weidong Zhang1, Linlin Ou2

  • 1Department of Automation, Shanghai Jiao Tong University, SEIEE Building #02-403, 800 Dongchuan Road, Shanghai 200240, PR China; Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai 200240, PR China.

ISA Transactions
|December 26, 2016
PubMed
Summary
This summary is machine-generated.

This study presents an analytical H2 controller design for multi-agent systems with time delays, improving consensus performance. The method offers a tunable approach for balancing performance and robustness in complex systems.

Keywords:
ConsensusFrequency domainH(2) performance indexMulti-agent systemsRobustnessTime delays

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Area of Science:

  • Control Systems Engineering
  • Robotics and Automation
  • Networked Systems

Background:

  • Multi-agent systems (MAS) are crucial for distributed tasks but face challenges with time delays.
  • Achieving consensus (agreement) in MAS is vital for coordinated behavior and performance.
  • Existing methods often struggle with analytical solutions for delayed systems.

Purpose of the Study:

  • To develop an analytical H2 controller design method for homogeneous multi-agent systems with time delays.
  • To enhance the consensus performance and stability of these systems.
  • To provide a quantitative tuning mechanism for performance-robustness trade-offs.

Main Methods:

  • Introduction of a closed-loop, multi-input multi-output (MIMO) framework in the frequency domain.
  • Application of a decomposition method to simplify system analysis into independent optimization problems.
  • Computation of the H2 optimal controller from stabilizing controllers.

Main Results:

  • An analytical design procedure for arbitrary delayed multi-agent systems is established.
  • A simple, quantitative tuning method is developed for performance and robustness.
  • Simulation examples validate the effectiveness of the proposed control strategy.

Conclusions:

  • The presented analytical H2 controller design effectively improves consensus performance in delayed multi-agent systems.
  • The decomposition method simplifies stability and H2 performance analysis.
  • The approach offers a practical and tunable solution for complex control problems.