Optimal consensus control of linear multi-agent systems with communication time delay

Author

Jie Sheng ; Zhengtao Ding

Author_Institution

Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China

Volume

7

Issue

15

fYear

2013

fDate

October 17 2013

Firstpage

1899

Lastpage

1905

Abstract

This study investigates the consensus control of linear multi-agent systems with communication time delay. Upon exploring certain features of Laplacian matrix, optimal consensus control conditions are identified using semi-discretisation method that develops a mapping of the system response in a finite-dimensional state space. Consensus region and consensus boundary can be obtained by comparing the maximum absolute value of the mapping´s eigenvalues with 1. Besides, minimisation of the maximum absolute value of the eigenvalues leads to optimal control gains representing fastest convergence speed. The proposed control only uses relative state information of the system. Numerical simulations validate the proposed control design and show the performance with different control gains and time delays.

Keywords

control system synthesis; convergence; delay systems; eigenvalues and eigenfunctions; linear systems; matrix algebra; mobile robots; multi-robot systems; multidimensional systems; optimal control; Laplacian matrix; communication time delay; consensus boundary; consensus region; control design; convergence speed; eigenvalues mapping; finite-dimensional state space; linear multiagent systems; maximum absolute value; minimisation; numerical simulations; optimal consensus control conditions; optimal control gains; semidiscretisation method; system response mapping;

fLanguage

English

Journal_Title

Control Theory & Applications, IET

Publisher

iet

ISSN

1751-8644

Type

jour

DOI

10.1049/iet-cta.2013.0478

Filename

6668353