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Rotating consensus for double-integrator multi-agent systems with communication delay.

Xiongtao Shi1, Yonggang Li2, Yanhua Yang2

  • 1School of Mechanical and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, China.

ISA Transactions
|December 26, 2021
PubMed
Summary
This summary is machine-generated.

This study addresses the rotating consensus problem in multi-agent systems, developing distributed control strategies for double-integrator dynamics. Results provide necessary and sufficient conditions for consensus, considering communication delays and general directed topologies.

Keywords:
Communication delayDirected graphMulti-agent systemsRotating consensus

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Area of Science:

  • Robotics
  • Control Theory
  • Networked Systems

Background:

  • Multi-agent systems (MAS) are crucial for coordinated behaviors.
  • The rotating consensus problem involves agents aligning their states in a rotating frame.
  • Communication delays and network topology significantly impact system performance.

Purpose of the Study:

  • To develop a fully distributed control strategy for the rotating consensus problem in MAS with double-integrator dynamics.
  • To analyze the system's behavior under both immediate and delayed communication conditions.
  • To establish necessary and sufficient conditions for achieving consensus over general directed communication topologies.

Main Methods:

  • Design of a distributed control protocol utilizing local relative information.
  • Application of frequency domain analysis to account for communication delays.
  • Investigation of control parameter bounds for guaranteed consensus.

Main Results:

  • A novel distributed control strategy is proposed for complex plane dynamics.
  • For systems without communication delay, necessary and sufficient conditions are derived for directed topologies.
  • For systems with communication delay, necessary and sufficient conditions are established based on upper bounds of delay.

Conclusions:

  • The proposed control strategy effectively achieves rotating consensus in multi-agent systems.
  • The derived conditions are applicable to more general directed communication topologies than previously studied.
  • Simulation examples validate the theoretical findings and the robustness of the control strategy.