Title :
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
fDate :
June 30 2010-July 2 2010
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;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531058
