Consensus of networked multi-agent systems with communication delays based on the networked predictive control scheme |
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Authors: | Chong Tan Guo-Ping Liu Guang-Ren Duan |
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Affiliation: | 1. School of Astronautics , Harbin Institute of Technology , Harbin 150001 , China tc20021671@126.com;3. School of Astronautics , Harbin Institute of Technology , Harbin 150001 , China;4. Faculty of Advanced Technology , University of Glamorgan , Pontypridd CF37 IDL , UK;5. School of Astronautics , Harbin Institute of Technology , Harbin 150001 , China |
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Abstract: | The consensus problem of discrete-time networked multi-agent systems (NMASs) with a communication delay is investigated in this article, where the dynamics of agents described by discrete-time linear time-invariant systems can be either uniform or non-uniform. For the NMASs with a directed topology and constant delay, a novel protocol based on the networked predictive control scheme is proposed to compensate for communication delay actively. Using algebraic graph theories and matrix theories, necessary and/or sufficient conditions of achieving consensus are obtained, which indicates that, under the proposed protocol, the consensus is independent of the network delay and only dominated by agents' dynamics and communication topology. Meanwhile, the protocol design and consensus analysis are also presented in the case of no network delay. Simulation results are further presented to demonstrate the effectiveness of theoretical results. |
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Keywords: | consensus networked multi-agent systems networked predictive control discrete-time linear time-invariant systems |
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