Title :
Generalized Nyquist consensus condition for high-order linear multi-agent systems with communication delays
Author :
Münz, Ulrich ; Papachristodoulou, Antonis ; Allgöwer, Frank
Author_Institution :
Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart, Germany
Abstract :
The generalized Nyquist criterion is used to derive necessary and sufficient consensus conditions for large high-order linear multi-agent systems (MAS) with heterogeneous communication delays. The new consensus conditions are set-valued graphical conditions, from which inequality conditions are derived for single integrator MAS. The obtained conditions provide a unification and generalization of several results from the literature. Moreover, convergence rate conditions for single integrator MAS with delays are derived.
Keywords :
Nyquist criterion; delays; linear systems; multi-agent systems; convergence rate conditions; generalized Nyquist consensus condition; heterogeneous communication delays; high-order linear multi-agent systems; set-valued graphical conditions; Animals; Communication system control; Convergence; Delay lines; Delay systems; Distributed computing; Laser applications; Mobile robots; Multiagent systems; Remotely operated vehicles; Multi-agent systems; communication delays; convergence rate; generalized Nyquist criterion;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399906
