A new result on average consensus for multiple agents with switching topology and communication delay

Author

Qin, Jiahu ; Gao, Huijun ; Zheng, Wei Xing

Author_Institution

Dept. of Control Sci. & Eng., Harbin Inst. of Technol., Harbin, China

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

3703

Lastpage

3708

Abstract

This paper addresses the average consensus problem for directed networks of agents with both switching topology and coupling delay. By constructing a Lyapunov-Krasovskii functional and using the idea of delay partitioning, it is shown that average consensus can be attained for appropriate time delay if the weak connectedness and balance can be maintained by the communication topology. The applicability of the proposed theoretical result is verified by numerical results.

Keywords

Lyapunov methods; delays; multi-robot systems; telecommunication network topology; Lyapunov-Krasovskii functional; communication delay; communication topology; coupling delay; multiple agent average consensus problem; switching topology; time delay; Algorithm design and analysis; Australia Council; Communication switching; Communication system control; Delay effects; Mathematics; Multiagent systems; Network topology; Protocols; Stability;

fLanguage

English

Publisher

ieee

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

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400738

Filename

5400738