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Analysis of average consensus of multi-agent systems with time delay using packet selection and synchronization

Satoshi Kikuchi1, Michihiro Kawanishi2, Tran Huynh Ngoc2

  • 1R-Frontier Division, Frontier Research Center, TOYOTA MOTOR CORPORATION, Shizuoka, Japan; Department of Advanced Science and Technology, Toyota Technological Institute, Nagoya, Japan.

ISA Transactions
|December 5, 2021
PubMed
Summary

This study proposes a novel stabilization approach for multi-agent systems (MASs) with communication delays. The method ensures system stability and consensus even with complex, time-varying delays.

Keywords:
Average consensusLinear matrix inequalitiesMulti-agent systemNon-uniform and asymmetric communication delaysPacket selectionSynchronizationTime-varying

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Area of Science:

  • Control Theory
  • Networked Systems
  • Robotics

Background:

  • Multi-agent systems (MASs) often face challenges with communication delays.
  • Achieving average consensus in MASs with non-uniform, asymmetric, and time-varying delays is complex.

Purpose of the Study:

  • To develop a robust stabilization approach for average consensus in MASs.
  • To address and mitigate the effects of complex communication delays.

Main Methods:

  • Utilizing continuous-time linear dynamical systems with discrete-time controllers.
  • Implementing a packet selection algorithm for updating control signals.
  • Employing an asymmetric synchronization algorithm to preserve state variable averages.
  • Applying Lyapunov theory and linear matrix inequality (LMI) conditions for stability analysis.

Main Results:

  • A novel stabilization approach for average consensus in MASs is presented.
  • The proposed algorithms effectively handle non-uniform, asymmetric, and time-varying delays.
  • A sufficient LMI condition for system stability and consensus is established, requiring only the delay upper bound.

Conclusions:

  • The proposed method ensures stability and average consensus in MASs despite communication delays.
  • The approach is validated through numerical simulations, demonstrating its effectiveness.