具有通信时延的二阶动态个体的耦合一致性

Coupled consensus of second-order dynamic agents with communication delay

采用具有通信时延的静态一致性算法研究二阶动态个体的耦合一致性问题。根据频域分析法,分别得到连续时间和离散采样二阶动态个体渐近收敛静态一致的条件,该条件与通信时延、控制参数有关。此外,在采样系统中,一致性收敛还取决于采样间隔大小,且当采样间隔超过其上界时,系统状态发散。仿真结果证明了结论的正确性。

The stationary consensus algorithm with communication delay was proposed to solve the coupled consensus problem of the second-order dynamic agents. Based on the frequency domain analysis, the conditions, which depend on the communication delay and the control parameters, are obtained for the continuous-time and the discrete sampled-data second-order dynamic agents converging to a stationary consensus asymptotically, respectively. Moreover, the consensus convergence is subjected to the sampling interval in the sampled-data system, and the system diverges when the sampling interval is larger than the critical value. The simulation results illustrate the correctness of the algorithm.