带有多个时变时滞的二阶网络的一致性算法

Consensus Algorithm of the Second-order Network with Multiple Time-varying Delays

研究了二阶动态无向网络的一致性问题,其采用的协议既考虑了时滞,又考虑了网络拓扑结构发生切换的影响.通过分析发现,当网络受到多个时变时滞或者同时受到网络拓扑结构发生切换的影响时,在一定条件下,该无向网络能实现一致.另外在频率域里,还求出了任意两个不同自主体之间通信所允许的一个共同时滞上界.这个上界是依赖于网络参数的,因此具有更低的保守性.

This paper discusses the second-order consensus algorithm for the network with multiple time-varying delays. The studied protocol is affected not only by the time delays but also by the switching topologies of a network. The study shows that the network can achieve consensus if certain conditions are satisfied. The conditions are inferred by introducing a special Lyapunove function. Furthermore, we attain a common upper bound time-delays by discussing the problem in frequency domain. This implies that the network can achieve consensus, when the time delays generated by agent communication are lower than the upper bourtd time-delay. Moreover, the common upper bound time-delay is dependent on the parameters of the network which can reduce its conservatism. Finally, we also discuss the case of the switching topologies. In this case,the network can also achieve consensus.