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Consensus of single integrator multi-agent systems with directed topology and communication delays
X.Xu,L.Liu,G.Feng
0
(Department of Mechanical and Biomedical Engineering, City University of Hong Kong)
摘要:
In this paper, a distributed control scheme has been developed for consensus of single integrator multi-agent systems with directed fixed communication topology for arbitrarily large constant, time-varying or distributed communication delays. It is proved that the closed loop control system can reach consensus with an exponential convergence rate if and only if the topology is quasi-strongly connected. Simulation results are also provided to demonstrate the effectiveness of the proposed controller.
关键词:  Consensus, directed fixed topology, single integrator multi-agent systems, communication delays
DOI:
Received:November 27, 2015Revised:December 15, 2015
基金项目:
Consensus of single integrator multi-agent systems with directed topology and communication delays
X. Xu,L. Liu,G. Feng
(Department of Mechanical and Biomedical Engineering, City University of Hong Kong)
Abstract:
In this paper, a distributed control scheme has been developed for consensus of single integrator multi-agent systems with directed fixed communication topology for arbitrarily large constant, time-varying or distributed communication delays. It is proved that the closed loop control system can reach consensus with an exponential convergence rate if and only if the topology is quasi-strongly connected. Simulation results are also provided to demonstrate the effectiveness of the proposed controller.
Key words:  Consensus, directed fixed topology, single integrator multi-agent systems, communication delays