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A PD-Like Protocol With a Time Delay to Average Consensus Control for Multi-Agent Systems Under an Arbitrarily Fast
IEEE Transactions on Cybernetics
|January 24, 2017
Summary
This study develops average consensus control for multi-agent systems with switching topologies. It ensures reliable coordination in linear and nonlinear systems, even with time delays.
Area of Science:
- Control Theory
- Networked Systems
- Nonlinear Dynamics
Background:
- Multi-agent systems require coordination algorithms for collective behavior.
- Switching topologies introduce complexity in maintaining consensus.
- Time delays can destabilize system dynamics.
Purpose of the Study:
- To design and analyze average consensus control for multi-agent systems.
- To address systems with linear and Lipschitz nonlinear dynamics.
- To handle the challenge of switching network topologies.
Main Methods:
- A proportional and derivative-like consensus algorithm is proposed for linear systems.
- System transformation converts the consensus problem into a switched delay system stability problem.
- Lyapunov-Krasovskii functional with a triple-integral term is used for stability analysis.
Main Results:
- Sufficient conditions are derived to guarantee average consensus under arbitrary switching.
- The method is extended to handle Lipschitz nonlinear dynamics.
- Numerical examples validate the effectiveness of the proposed control strategy.
Conclusions:
- The developed average consensus control effectively manages multi-agent systems with switching topologies.
- The approach provides robust coordination for both linear and nonlinear systems.
- The findings contribute to the advancement of distributed control theory.
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