Second-order consensus for multi-agent systems with switching topology and communication delay |
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Authors: | Jiahu Qin Huijun Gao |
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Affiliation: | a Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, Chinab School of Computing and Mathematics, University of Western Sydney, Penrith NSW 2751, Australia |
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Abstract: | In this paper, two kinds of consensus problems for second-order agents under directed and arbitrarily switching topologies are investigated, that is, the cases without and with communication delay. For the former, by constructing a new kind of digraph and employing a new graphic method, we can specify the least convergence rate for all the agents to reach consensus. For the latter, in virtue of a matrix inequality method, a sufficient condition in the form of feasible matrix inequalities is presented for all the agents to reach consensus. This, on the other hand, shows that consensus can be reached if the delay is small enough. Finally, two numerical examples are given to demonstrate the effectiveness and advantages of the proposed results. |
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Keywords: | Consensus Second-order agents Graphic method Switching topology Time delay |
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