Title :
Leaderless and Leader-Following Consensus With Communication and Input Delays Under a Directed Network Topology
Author :
Meng, Ziyang ; Ren, Wei ; Cao, Yongcan ; You, Zheng
Author_Institution :
Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China
Abstract :
In this paper, time-domain (Lyapunov theorems) and frequency-domain (the Nyquist stability criterion) approaches are used to study leaderless and leader-following consensus algorithms with communication and input delays under a directed network topology. We consider both the first-order and second-order cases and present stability or boundedness conditions. Several interesting phenomena are analyzed and explained. Simulation results are presented to support the theoretical results.
Keywords :
Lyapunov methods; Nyquist stability; delays; directed graphs; frequency-domain analysis; multi-agent systems; multi-robot systems; time-domain analysis; directed network topology; frequency domain approach; input delays; leader following consensus algorithm; leaderless consensus algorithm; multiagent system; time domain approach; Communication and input delays; consensus tracking; directed network graph; leaderless consensus; multiagent system;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMCB.2010.2045891
