A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 2 Issue 2
Apr.  2015

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 6.171, Top 11% (SCI Q1)
    CiteScore: 11.2, Top 5% (Q1)
    Google Scholar h5-index: 51, TOP 8
Turn off MathJax
Article Contents
Zhenhua Wang, Juanjuan Xu and Huanshui Zhang, "Consensus Seeking for Discrete-time Multi-agent Systems with Communication Delay," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 2, pp. 151-157, 2015.
Citation: Zhenhua Wang, Juanjuan Xu and Huanshui Zhang, "Consensus Seeking for Discrete-time Multi-agent Systems with Communication Delay," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 2, pp. 151-157, 2015.

Consensus Seeking for Discrete-time Multi-agent Systems with Communication Delay

Funds:

This work was supported by the Taishan Scholar Construction Engineering by Shandong Government, the National Natural Science Foundation of China (61034007, 61120106011, 61203029, 61304045, 61403235).

  • This paper studies the consensus problem for discrete-time multi-agent systems of first-order in the presence of constant communication delay. Provided that the agent dynamics is unstable and the network topology is undirected, effects of two kinds of communication delays on consensus are investigated. When the relative information is affected by delay, we show that the effect of delay can be alleviated by using the historical input information in the protocol design. On the other hand, if the communication delay only influences the actually transmitted information, sufficient condition admitting any large yet bounded delay for consensus is obtained, and the delay in this case is allowed to be unknown and time-varying. Finally, simulation results are provided to demonstrate the effectiveness of the theoretical results.

     

  • loading
  • [1]
    Pettersen K, Gravdahl J T, Nijmeijer H. Group Coordination and Cooperative Control. Berlin:Springer, 2006.
    [2]
    Cao Y C, Ren W, Meng Z Y. Decentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking. System & Control Letters, 2010, 59(9):522-529
    [3]
    Yu W W, Chen G R, Cao M. Distributed Leader-follower flocking control for multi-agent dynamical systems with time-varying velocities. System & Control Letters, 2010, 59(9):543-552
    [4]
    Vicsek T, Czirók A, Ben-Jacob E, Cohen I, Shochet O. Novel type of phase transition in a system of self-driven particles. Physical Review Letters, 1995, 75(6):1226-1229
    [5]
    Jadbabaie A, Lin J, Morse A S. Coordination of groups of mobile automous agents using nearest neighbor rules. IEEE Transactions on Automatic Control, 2003, 48(6):998-1001
    [6]
    Hong Y G, Wang X L. Multi-agent tracking of a high-dimensional active leader with switching topology. Journal of Systems Science and Complexity, 2009, 22(4):722-731
    [7]
    You K Y, Xie L H. Network topology and communication data rate for consensusability of discrete-time multi-agent systems. IEEE Transactions on Automatic Control, 2011, 56(10):2062-2075
    [8]
    Tian Y P, Liu C L. Robust consensus of multi-agent systems with diverse input delays and asymmetric interconnection perturbations. Automatica, 2009, 45(5):1347-1353
    [9]
    Olfati-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control, 2004, 49(9):1520-1533
    [10]
    Moreau L. Stability of continuous-time distributed consensus algorithms. In:Proceedings of the 43rd IEEE Conference on Decision and Control. Nassau:IEEE, 2004. 3998-4003
    [11]
    Yu W W, Chen G R, Cao M, Ren W. Delay-induced consensus and quasi-consensus in multi-agent dynamical systems. IEEE Transactions on Circuits and Systems, Part I:Regular Paper, 2013, 60(10):2679-2687
    [12]
    Zhou B, Lin Z L. Consensus of high-order multi-agent systems with large input and communication delays. Automatica, 2014, 50(2):452-464
    [13]
    Tian Y P, Liu C L. Consensus of multi-agent systems with diverse input and communication delays. IEEE Transactions on Automatic Control, 2008, 53(9):2122-2128
    [14]
    Xu J J, Zhang H S, Xie L H. Input delay marigin for consensusability of multi-agent systems. Automatica, 2013, 49(6):1816-1820
    [15]
    Tan C, Liu G P. Consensus of discrete-time linear networked multi-agent systems with communication delays. IEEE Transactions on Automatic Control, 2013, 58(11):2962-2968
    [16]
    Lin P, Ren W. Constrained consensus in unbalanced networks with communication delays. IEEE Transactions on Automatic Control, 2014, 59(3):775-781
    [17]
    Wang X, Saberi A, Stoovogel A A, Grip H F, Yang T. Synchronization in a network of identical discrete-time agents with uniform constant communication delay. International Journal of Robust and Nonlinear Control, 2013, 24(18):3076-3091
    [18]
    Barahona M, Pecora L M. Synchronization in small-word systems. Physical Review Letters, 2002, 89(5):054101
    [19]
    Smith O. Controller to overcome dead time. Instrument Society of America-Journal, 1959, 6(2):28-33
    [20]
    Manitius A, Olbrot A. Finite spectrum assignment problem for systems with delays. IEEE Transactions on Automatic Control, 1979, 24(4):541-553
    [21]
    Artstein Z. Linear systems with delayed control:a reduction. IEEE Transactions on Automatic Control, 1982, 27(4):869-879
    [22]
    Hua J W, Liang T, Sun H X, Lei Z M. Time-delay compensation control of networked control systems using time-stemp based state prediction. In:Proceedings of the 2008 ISECS International Colloquium on Computing, Communication, Control, and Management. Washington, DC, USA:IEEE, 2008. 198-202
    [23]
    You K Y, Xie L H. Coordination of discrete-time multi-agent systems via relative output feedback. International Journal of Robust and Nonlinear Control, 2011, 21(13):1587-1605
    [24]
    Ren W, Atkins E. Distributed multi-vehicle coordinated control via local information exchange. International Journal of Robust and Nonlinear Control, 2007, 17(10-11):1002-1033
    [25]
    Lin Z L. On asymptotic stabilizability of discrete-time linear systems with delayed input. Communications in Information and Systems, 2007, 7(3):227-264
    [26]
    Fang H T, Chen H F, Wen L. On control of strong consensus for networked agents with noisy observations. Journal of Systems Science and Complexity, 2012, 25(1):1-12
    [27]
    Zeng L, Hu G D. Consensus of linear multi-agent systems with communication and input delays. Acta Automatica Sinica, 2013, 39(7):1133-1140

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views (1015) PDF downloads(10) Cited by()

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return