Consensus of Discrete-Time Linear Networked Multi-Agent Systems With Communication Delays

Author

Chong Tan ; Guo-Ping Liu

Author_Institution

Sch. of Astronaut., Harbin Inst. of Technol., Harbin, China

Volume

58

Issue

11

fYear

2013

fDate

Nov. 2013

Firstpage

2962

Lastpage

2968

Abstract

This technical note investigates the problem of consensus for discrete-time networked multi-agent systems (NMASs), where information is exchanged through the network with a communication delay. Based on the networked predictive control scheme and the dynamic output feedback, a novel distributed protocol is proposed to compensate for the network delay actively. For NMASs with a directed topology and non-uniform agents, sufficient conditions of the consensus are obtained. A numerical simulation demonstrates effectiveness of the proposed theoretical results.

Keywords

delays; discrete time systems; feedback; linear systems; multi-robot systems; networked control systems; predictive control; topology; NMAS; communication delays; directed topology; discrete-time linear networked multiagent system consensus; distributed protocol; dynamic output feedback; network delay; networked predictive control scheme; nonuniform agents; Delays; Lyapunov methods; Observers; Output feedback; Protocols; Topology; Consensus; discrete-time linear systems; networked multi-agent systems (NMASs); networked predictive control (NPC);

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2013.2261177

Filename

6512031