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
fDate :
6/1/2012 12:00:00 AM
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);
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2011.2178336