Title :
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
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);
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2013.2261177
