NDLI: Exponential consensus for hierarchical multi-agent systems with switching topology and inter-layer communication delay

Content Provider	IET Digital Library
Author	Duan, Zhaoxia Zhai, Guisheng Xiang, Zhengrong
Abstract	This study studies the exponential state consensus problem for hierarchical multi-agent dynamical systems with switching topology and inter-layer communication delay. A Lyapunov function is introduced to quantify the total disagreement among the nodes of a hierarchical multi-agent system. By using the stability theory of switched system and graph theory of hierarchical network topology, delay dependent sufficient conditions are proposed to achieve the exponential hierarchical average consensus with the average dwell time of the switching law larger than a minimum bound. Illustrative examples are provided to verify the effectiveness of the proposed approach.
Starting Page	451
Ending Page	460
Page Count	10
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 4, Feb (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/4
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2015.0548
Journal	IET Control Theory & Applications
Publisher Date	2016-02-26
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Artificial Intelligence Combinatorial Mathematics Delay Disagreement Stability Theory Distributed Parameter Control System Graph Theory Hierarchical Multiagent Dynamical System Hierarchical Multiagent System Hierarchical Network Topology Inter-layer Communication Delay Lyapunov Function Lyapunov Method Mobile Robots Multi-agent System Multi-robot System Stability Stability in Control Theory Switched System Switching System (control) Switching Topology Time Varying Control System Topology
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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