Title :
A Sufficient Condition for Convergence of Sampled-Data Consensus for Double-Integrator Dynamics With Nonuniform and Time-Varying Communication Delays
Author :
Jiahu Qin ; Huijun Gao
Author_Institution :
Harbin Inst. of Technol., Harbin, China
Abstract :
This technical note investigates a discrete-time second-order consensus algorithm for networks of agents with nonuniform and time-varying communication delays under dynamically changing communication topologies in a sampled-data setting. Some new proof techniques are proposed to perform the convergence analysis. It is finally shown that under certain assumptions upon the velocity damping gain and the sampling period, consensus is achieved for arbitrary bounded time-varying communication delays if the union of the associated digraphs of the interaction matrices in the presence of delays has a directed spanning tree frequently enough.
Keywords :
convergence; delays; directed graphs; discrete time systems; matrix algebra; mobile robots; multi-agent systems; multi-robot systems; position control; sampled data systems; time-varying systems; trees (mathematics); velocity control; arbitrary bounded time-varying communication delays; associated digraphs; communication topologies; convergence analysis; directed spanning tree; discrete-time second-order consensus algorithm; double-integrator dynamics; interaction matrices; nonuniform communication delays; sampled-data consensus convergence; sampling period; velocity damping gain; Algorithm design and analysis; Convergence; Damping; Delay; Heuristic algorithms; Network topology; Topology; Double-integrator agents; sampled-data consensus; spanning tree; time-varying communication delays;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2012.2188425
