Some stability and boundedness conditions for second-order leaderless and leader-following consensus with communication and input delays

Author

Ziyang Meng ; Wei Ren ; Yongcan Cao ; Zheng You

Author_Institution

Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China

fYear

2010

fDate

June 30 2010-July 2 2010

Firstpage

574

Lastpage

579

Abstract

In this paper, time-domain (Lyapunov theorems) and frequency-domain (the Nyquist stability criterion) approaches are used to study second-order leaderless and leader-following consensus algorithms with communication and input delays under a directed network topology. We consider three different cases, namely, leaderless consensus, consensus regulation, and consensus tracking with full access to the virtual leader, and present stability or boundedness conditions. Several interesting phenomena are analyzed and explained.

Keywords

Lyapunov methods; Nyquist criterion; delays; directed graphs; frequency-domain analysis; network theory (graphs); time-domain analysis; Lyapunov theorem; Nyquist stability; boundedness condition; communication delay; consensus regulation; consensus tracking; directed network topology; frequency-domain analysis; input delay; leader-following consensus; second-order leaderless consensus; stability condition; time-domain analysis; virtual leader; Communication system control; Control systems; Delay estimation; Instruments; Multiagent systems; Network topology; Robustness; Stability criteria; State estimation; Time domain analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2010

Conference_Location

Baltimore, MD

ISSN

0743-1619

Print_ISBN

978-1-4244-7426-4

Type

conf

DOI

10.1109/ACC.2010.5531058

Filename

5531058