Title :
Fast consensus tracking of multi-agent systems with diverse communication delays
Author :
Yang Chunxi ; Hong Weixing ; Sun Chao ; Wang Hua
Author_Institution :
Fac. of Chem. Eng., Kunming Univ. of Sci. & Technol., Kunming, China
Abstract :
The consensus tracking problem for multi-agent systems with input and communication delays is studied based on the frequency-domain analysis. A fast decentralized consensus tracking conditions based on increment PID algorithm is obtained, which is given for the systems based on directed graphs with diverse communication delays and input delays. A numerable example is given to compare convergence speed of the classical tracking algorithm with our method in the same condition. Simulation results show the effectiveness of the proposed algorithm.
Keywords :
convergence; decentralised control; delays; directed graphs; frequency-domain analysis; multi-robot systems; three-term control; tracking; communication delays; convergence speed; directed graph; fast consensus tracking; fast decentralized consensus tracking condition; frequency-domain analysis; increment PID algorithm; input delays; multiagent systems; Algorithm design and analysis; Delays; Educational institutions; Electronic mail; Multi-agent systems; Nickel; Sun; Communication delays; Consensus; Increment PID algorithm; input delays; multi-agent system;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
