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Consensus of second-order multi-agent systems with directed topologies and time-varying delays

  • 1.

    School of Electronic and Electrical, Chuzhou University, Chuzhou 239000, P.R.China

  • 2.

    School of Computer and Information Engineering, Chuzhou University, Chuzhou 239000, P.R.China

Funds:  Supported by Anhui Provincial Natural Science Foundation (1408085QF134), Natural Science Foundation of the Anhui Higher Education Institutions( KJ2015A252) and Initial Research Fund from Chuzhou University(2014qd022).
Cite this:
https://doi.org/10.3969/j.issn.0253-2778.2015.10.010
More Information
  • Corresponding author: Ou Meiying(Corresponding author),female,born in 1983, PhD/Lecturer. Research field:nonlinear system control,cooperative control of mobile robot systems and consensus of multi-agent systems.
  • Received Date: 19 December 2014
  • Accepted Date: 07 May 2015
  • Rev Recd Date: 07 May 2015
  • Publish Date: 30 October 2015
    Abstract

  • Abstract

    The consensus problem of second-order multi-agent systems with directed topologies and time-varying delays is investigated,

    Abstract

    The consensus problem of second-order multi-agent systems with directed topologies and time-varying delays is investigated,
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    • References(24)
  • [1]
    Jadbabaie A, Lin J, Morse A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules[J]. IEEE Transactions on Automatic Control, 2003, 48(6): 988-1001.
    [2]
    Olfati-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays[J]. IEEE Transactions on Automatic Control, 2004, 49(9): 1520-1533.
    [3]
    Ren W, Beard R W. Consensus seeking in multi-agent systems under dynamically changing interaction topologies[J]. IEEE Transactions on Automatic Control, 2005, 50(5): 655-661.
    [4]
    Ni W, Wang X L, Xiong C. Leader-following consensus of multiple linear systems under switching topologies: An averaging method[J]. Kybernetika, 2012, 48(6): 1194-1210.
    [5]
    陈刚, 岳元龙, 林青, 等. 分布式索机械系统的协调控制器设计[J]. 中国科学技术大学学报, 2013, 43(1): 29-34, 41.
    Chen G, Yue Y L, Lin Q, et al. Cooperative controller design for distributed mechanical systems[J]. Journal of University of Science and Technology of China, 2013, 43(1): 29-34, 41.
    [6]
    Murray R M. Recent research in cooperative control of multivehicle systems[J]. Journal of Dynamic Systems, Measurement, and Control, 2007, 129(5): 571-583.
    [7]
    Ren W. On consensus algorithms for double-integrator dynamics[J]. IEEE Transactions on Automatic Control, 2008, 58(6): 1503-1509.
    [8]
    Li S H, Du H B, Lin X Z. Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics[J]. Automatica, 2011, 47(8): 1706-1712.
    [9]
    Tanner H G, Jadbabaie A, Pappas G J. Stable flocking of mobile agents, Part I: Fixed topology[C]// Proceeding of the 42th IEEE Conference on Decision and Control. Hawaii, USA: IEEE Press, 2003: 2010-2015.
    [10]
    Tanner H G, Jadbabaie A, Pappas G J. Stable flocking of mobile agents, Part II: Dynamic topology[C]// Proceeding of the 42th IEEE Conference on Decision and Control. Hawaii, USA: IEEE Press, 2003: 2016-2021.
    [11]
    Saber R O, Murray R M. Flocking with obstacle avoidance: cooperation with limited communication in mobile networks[C]// Proceeding of the 42th IEEE Conference on Decision and Control. Hawaii, USA: IEEE Press, 2003: 2022-2028.
    [12]
    Du H B, He Y G, Cheng Y Y. Finite-time cooperative tracking control for a class of second-order nonlinear multiagent systems[J]. Kybernetika, 2013, 49(4): 507-523.
    [13]
    Ren W, Atkins E M. Distributed multi-vehicle coordinated control via local information exchange[J]. International Journal of Robust and Nonlinear Control, 2007, 17(10-11): 1002-1033.
    [14]
    Li S H, Du H B, Lin X Z. Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics[J]. Automatica, 2011, 47(8): 1706-1712.
    [15]
    Bliman P A, Trecate G F. Average consensus problems in networks of agents with delayed communications[J]. Automatica, 2008, 44(8): 1985-1995.
    [16]
    Sun Y G, Wang L, Xie G M. Average consensus in networks of dynamic agents with switching topologies and multiple time-varying delays[J]. Systems and Control Letters, 2008, 57(2): 175-183.
    [17]
    Meng Z Y, Ren W, Cao Y C, et al. Leaderless and leader following consensus with communication and input delays under a directed network topology[J]. IEEE Transactions on Systems, Man, and Cybernetics, 2011, 41(1): 75-88.
    [18]
    Ou M Y, Du H B, Li S H. Robust consensus of multiagent systems with input and communication delays[J]. ICIC Express Letters, 2011, 5(4B): 1267-1273.
    [19]
    Ou M Y, Du H B, Li S H. Robust consensus of second-order multi-agent systems with input and communication delays[J]. International Journal of Modelling, Identification and Control, 2012, 17(4): 285-294.
    [20]
    LI Weixun, CHEN Zengqiang. Leader-following consensus of second-order time-delay multi-agent systems with and without nonlinear dynamics[J]. Journal of University of Science and Technology of China, 2012, 42(5): 415-422.
    李伟勋, 陈增强. 具有不不具有线性动态的二阶时滞多智能体系统的领导跟随一致性[J]. 中国科学技术大学学报, 2012, 42(5): 415-422.
    [21]
    Hu J, Lin Y S. Consensus control for multi-agent systems with double-integrator dynamics and time delays[J]. Control Theory and Applications, 2010, 4(1): 109-118.
    [22]
    Moon Y S, Park P, Kwon W H, et al. Delay dependent robust stabilization of uncertain state-delayed systems[J]. International Journal of Control, 2001, 74(14): 1447-1455.
    [23]
    Horn R A, Johson C R. Matrix Analysis[M]. Cambridge, UK: Cambridge University Press, 1985.
    [24]
    Liu K E, Xie G M, Wang L. Consensus for multi-agent systems under double integrator dynamics with time-varying communication delays[J]. International Journal of Robust and Nonlinear Control, 2012, 22(17): 1881-1898.
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    [1]
    Jadbabaie A, Lin J, Morse A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules[J]. IEEE Transactions on Automatic Control, 2003, 48(6): 988-1001.
    [2]
    Olfati-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays[J]. IEEE Transactions on Automatic Control, 2004, 49(9): 1520-1533.
    [3]
    Ren W, Beard R W. Consensus seeking in multi-agent systems under dynamically changing interaction topologies[J]. IEEE Transactions on Automatic Control, 2005, 50(5): 655-661.
    [4]
    Ni W, Wang X L, Xiong C. Leader-following consensus of multiple linear systems under switching topologies: An averaging method[J]. Kybernetika, 2012, 48(6): 1194-1210.
    [5]
    陈刚, 岳元龙, 林青, 等. 分布式索机械系统的协调控制器设计[J]. 中国科学技术大学学报, 2013, 43(1): 29-34, 41.
    Chen G, Yue Y L, Lin Q, et al. Cooperative controller design for distributed mechanical systems[J]. Journal of University of Science and Technology of China, 2013, 43(1): 29-34, 41.
    [6]
    Murray R M. Recent research in cooperative control of multivehicle systems[J]. Journal of Dynamic Systems, Measurement, and Control, 2007, 129(5): 571-583.
    [7]
    Ren W. On consensus algorithms for double-integrator dynamics[J]. IEEE Transactions on Automatic Control, 2008, 58(6): 1503-1509.
    [8]
    Li S H, Du H B, Lin X Z. Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics[J]. Automatica, 2011, 47(8): 1706-1712.
    [9]
    Tanner H G, Jadbabaie A, Pappas G J. Stable flocking of mobile agents, Part I: Fixed topology[C]// Proceeding of the 42th IEEE Conference on Decision and Control. Hawaii, USA: IEEE Press, 2003: 2010-2015.
    [10]
    Tanner H G, Jadbabaie A, Pappas G J. Stable flocking of mobile agents, Part II: Dynamic topology[C]// Proceeding of the 42th IEEE Conference on Decision and Control. Hawaii, USA: IEEE Press, 2003: 2016-2021.
    [11]
    Saber R O, Murray R M. Flocking with obstacle avoidance: cooperation with limited communication in mobile networks[C]// Proceeding of the 42th IEEE Conference on Decision and Control. Hawaii, USA: IEEE Press, 2003: 2022-2028.
    [12]
    Du H B, He Y G, Cheng Y Y. Finite-time cooperative tracking control for a class of second-order nonlinear multiagent systems[J]. Kybernetika, 2013, 49(4): 507-523.
    [13]
    Ren W, Atkins E M. Distributed multi-vehicle coordinated control via local information exchange[J]. International Journal of Robust and Nonlinear Control, 2007, 17(10-11): 1002-1033.
    [14]
    Li S H, Du H B, Lin X Z. Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics[J]. Automatica, 2011, 47(8): 1706-1712.
    [15]
    Bliman P A, Trecate G F. Average consensus problems in networks of agents with delayed communications[J]. Automatica, 2008, 44(8): 1985-1995.
    [16]
    Sun Y G, Wang L, Xie G M. Average consensus in networks of dynamic agents with switching topologies and multiple time-varying delays[J]. Systems and Control Letters, 2008, 57(2): 175-183.
    [17]
    Meng Z Y, Ren W, Cao Y C, et al. Leaderless and leader following consensus with communication and input delays under a directed network topology[J]. IEEE Transactions on Systems, Man, and Cybernetics, 2011, 41(1): 75-88.
    [18]
    Ou M Y, Du H B, Li S H. Robust consensus of multiagent systems with input and communication delays[J]. ICIC Express Letters, 2011, 5(4B): 1267-1273.
    [19]
    Ou M Y, Du H B, Li S H. Robust consensus of second-order multi-agent systems with input and communication delays[J]. International Journal of Modelling, Identification and Control, 2012, 17(4): 285-294.
    [20]
    LI Weixun, CHEN Zengqiang. Leader-following consensus of second-order time-delay multi-agent systems with and without nonlinear dynamics[J]. Journal of University of Science and Technology of China, 2012, 42(5): 415-422.
    李伟勋, 陈增强. 具有不不具有线性动态的二阶时滞多智能体系统的领导跟随一致性[J]. 中国科学技术大学学报, 2012, 42(5): 415-422.
    [21]
    Hu J, Lin Y S. Consensus control for multi-agent systems with double-integrator dynamics and time delays[J]. Control Theory and Applications, 2010, 4(1): 109-118.
    [22]
    Moon Y S, Park P, Kwon W H, et al. Delay dependent robust stabilization of uncertain state-delayed systems[J]. International Journal of Control, 2001, 74(14): 1447-1455.
    [23]
    Horn R A, Johson C R. Matrix Analysis[M]. Cambridge, UK: Cambridge University Press, 1985.
    [24]
    Liu K E, Xie G M, Wang L. Consensus for multi-agent systems under double integrator dynamics with time-varying communication delays[J]. International Journal of Robust and Nonlinear Control, 2012, 22(17): 1881-1898.
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