NDLI: On second-order consensus in multi-agent dynamical systems with directed topologies and time delays

Content Provider	IEEE Xplore Digital Library
Author	Wenwu Yu Guanrong Chen Ming Cao
Copyright Year	2009
Description	Author affiliation: Department of Electronic Engineering, City University of Hong Kong, China (Wenwu Yu; Guanrong Chen) \|\| Faculty of Mathematics and Natural Sciences, ITM, University of Groningen, the Netherlands (Ming Cao)
Abstract	This paper establishes some necessary and sufficient conditions for second-order consensus in multi-agent dynamical systems with directed topologies and time delays. First, theoretical analysis is carried out for the basic, but fundamentally important case where agents' second-order dynamics are governed by the position and velocity terms. A necessary and sufficient condition is derived to ensure second-order consensus and it is found that both the real and imaginary parts of the eigenvalues of the Laplacian matrix of the corresponding network topology play key roles in reaching consensus. Based on this result, a second-order consensus algorithm is constructed for the multi-agent system with communication delays. A necessary and sufficient condition is then proposed, which shows that consensus can be achieved in a multi-agent system whose topology contains a directed spanning tree if and only if the time delay is less than a critical value. Finally, simulation examples are given to verify the theoretical analysis.
Starting Page	3709
Ending Page	3714
File Size	1420286
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5399936
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delay effects Sufficient conditions Multiagent systems Network topology Delay systems Autonomous agents Eigenvalues and eigenfunctions Laplace equations Unmanned aerial vehicles Graph theory
Content Type	Text
Resource Type	Article

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