Title :
Consensus tracking of multi-agent systems with time delays and disturbances
Author :
Ren Hongwei ; Deng Feiqi ; Liu Wenhui ; Mo Haoyi
Author_Institution :
Coll. of Autom. Sci. & Eng., South China Univ. of Technol., Guangzhou, China
Abstract :
This paper investigates leader-following multi-agent systems consensus problems with time delays and disturbances. It is assumed that the directed communication topologies are connected. Based on algebraic graph theory, matrix theory, Razumikhin theorem and Lyapunov function method, it is proved rigorously that the systems would reach consensus with the protocol we designed if some conditions are satisfied. Finally, a numerical simulation is given to prove the effectiveness of the obtained theoretical results.
Keywords :
Lyapunov methods; delays; graph theory; matrix algebra; multi-robot systems; Lyapunov function method; Razumikhin theorem; algebraic graph theory; communication topology; consensus tracking; leader-following multi-agent systems; matrix theory; numerical simulation; time delays; Delay effects; Lead; Multi-agent systems; Noise; Protocols; Symmetric matrices; Topology; consensus tracking; disturbances; multi-agent systems; time delays;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6895833
