Effects of Delay in Multi-Agent Consensus and Oscillator Synchronization

Author

Papachristodoulou, Antonis ; Jadbabaie, Ali ; Munz, Ulrich

Author_Institution

Dept. of Eng. Sci., Univ. of Oxford, Oxford, UK

Volume

55

Issue

6

fYear

2010

fDate

6/1/2010 12:00:00 AM

Firstpage

1471

Lastpage

1477

Abstract

The coordinated motion of multi-agent systems and oscillator synchronization are two important examples of networked control systems. In this technical note, we consider what effect multiple, non-commensurate (heterogeneous) communication delays can have on the consensus properties of large-scale multi-agent systems endowed with nonlinear dynamics. We show that the structure of the delayed dynamics allows functionality to be retained for arbitrary communication delays, even for switching topologies under certain connectivity conditions. The results are extended to the related problem of oscillator synchronization.

Keywords

delays; distributed control; multi-agent systems; nonlinear dynamical systems; oscillators; synchronisation; arbitrary communication delays; connectivity conditions; consensus properties; coordinated motion; delay effects; delayed dynamics; large-scale multiagent systems; networked control systems; noncommensurate communication delays; nonlinear dynamics; oscillator synchronization; switching topologies; Closed loop systems; Communication switching; Control systems; Delay effects; Frequency synchronization; Identity-based encryption; Large-scale systems; Multiagent systems; Network topology; Networked control systems; Nonlinear dynamical systems; Nonlinear systems; Oscillators; Pacemakers; Stability; Delay effects; Lyapunov methods; multi-agent systems; networked control system; nonlinear systems; oscillator synchronization;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2010.2044274

Filename

5422758