Consensus of single integrator multi-agent systems with directed topology and communication delays |
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| Authors: | X Xu L Liu and G Feng |
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| Affiliation: | Department of Mechanical and Biomedical Engineering, City University of Hong Kong,Department of Mechanical and Biomedical Engineering, City University of Hong Kong and Department of Mechanical and Biomedical Engineering, City University of Hong Kong |
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| Abstract: | In this paper, a distributed control scheme has been developed for consensus of single integrator multi-agent systems with directed fixed communication topology for arbitrarily large constant, time-varying or distributed communication delays. It is proved that the closed loop control system can reach consensus with an exponential convergence rate if and only if the topology is quasi-strongly connected. Simulation results are also provided to demonstrate the effectiveness of the proposed controller. |
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| Keywords: | Consensus directed fixed topology single integrator multi-agent systems communication delays |
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