Robustness of consensus algorithm for communication delays and switching topology

Takanobu Shida, Hiromitsu Ohmori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper, we study consensus problems of continuous time multi-agent systems. Multi-agent system has communication network. Each agent gets information of neighbors to achieve consensus. It is assumed that there are delays in communication network. The communication delays are different every communication channels and time-dependent. Furthermore, it is assumed that there are switching topologies and feed-back gains are time variable. Under these assumptions, we show that the entire system is stable. The stability is shown by Lyapunov theorem. In addition, we extend the consensus algorithm for first order systems to the output consensus algorithm for high order systems.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages1373-1380
Number of pages8
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

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Multi agent systems
Telecommunication networks
Topology
Communication
Feedback

Keywords

  • Consensus
  • Lyapunov function
  • Robust stability
  • Switching topology
  • Time-delays

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Shida, T., & Ohmori, H. (2011). Robustness of consensus algorithm for communication delays and switching topology. In Proceedings of the SICE Annual Conference (pp. 1373-1380). [6060538]

Robustness of consensus algorithm for communication delays and switching topology. / Shida, Takanobu; Ohmori, Hiromitsu.

Proceedings of the SICE Annual Conference. 2011. p. 1373-1380 6060538.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shida, T & Ohmori, H 2011, Robustness of consensus algorithm for communication delays and switching topology. in Proceedings of the SICE Annual Conference., 6060538, pp. 1373-1380, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 11/9/13.
Shida T, Ohmori H. Robustness of consensus algorithm for communication delays and switching topology. In Proceedings of the SICE Annual Conference. 2011. p. 1373-1380. 6060538
Shida, Takanobu ; Ohmori, Hiromitsu. / Robustness of consensus algorithm for communication delays and switching topology. Proceedings of the SICE Annual Conference. 2011. pp. 1373-1380
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