二阶时滞多智能体系统定拓扑网络下的一致性

Consensus of Second-order Multi-agent Systems with Time-delay in the Network of Fixed Topology

研究了定拓扑有向网络下二阶时滞多智能体系统的一致性问题.采用频域分析方法进行研究,得到了各个智能体状态达到一致的充分必要条件,并且给出了系统最大容许时滞与定拓扑网络的Laplacian矩阵特征值之间的关系.最后,仿真结果验证了所提协议的有效性和所得结论的正确性.

The consensus problem of second-order multi-agent systems with time-delay is investigated in the network with fixed topology. The frequency domain analysis method is adopted. A sufficient and necessary condition is derived that all agents reach consensus,and the relationship of largest tolerable delay and the eigenvalues of Laplacian matrices of the fixed topology is given. Finally a simulation example is provided to show the effectiveness of raised protocol and the correctness of theoretical results.