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 publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1373-1380
Number of pages8
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Other

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

Keywords

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

ASJC Scopus subject areas

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

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  • Cite this

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