DocumentCode :
1391155
Title :
Delay Robustness in Non-Identical Multi-Agent Systems
Author :
Münz, Ulrich ; Papachristodoulou, Antonis ; Allgöwer, Frank
Author_Institution :
Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart, Germany
Volume :
57
Issue :
6
fYear :
2012
fDate :
6/1/2012 12:00:00 AM
Firstpage :
1597
Lastpage :
1603
Abstract :
We investigate the robustness of consensus protocols on sensor networks to different types of feedback delays. We provide set-valued conditions for consensus of linear Multi-Agent Systems (MAS) with nonidentical agent dynamics and heterogeneous delays. These conditions consider different feedback delay configurations and are robust and scalable to unknown, arbitrary large topologies and unknown but bounded self-delays and communication delays. Moreover, we provide consensus conditions for relative degree two MAS with different feedback delays in order to illustrate the applicability of these set-valued conditions.
Keywords :
Nyquist criterion; delays; feedback; graph theory; linear systems; multi-agent systems; consensus protocols; delay robustness; feedback delays; heterogeneous delays; linear multiagent systems; nonidentical multiagent systems; sensor networks; set-valued conditions; Delay; Dynamics; Eigenvalues and eigenfunctions; Network topology; Robustness; Topology; Transfer functions; Consensus; delays; generalized Nyquist criterion; multi-agent systems (MAS);
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/TAC.2011.2178336
Filename :
6096370
Link To Document :
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