L2–L∞ consensus control for high-order multi-agent systems with switching topologies and time-varying delays
L2–L∞ consensus control for high-order multi-agent systems with switching topologies and time-varying delays
- Author(s): Y. Cui and Y. Jia
- DOI: 10.1049/iet-cta.2011.0577
For access to this article, please select a purchase option:
Buy article PDF
Buy Knowledge Pack
IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.
Thank you
Your recommendation has been sent to your librarian.
- Author(s): Y. Cui 1 and Y. Jia 1, 2
-
-
View affiliations
-
Affiliations:
1: The Seventh Research Division and the Department of Systems and Control, Beihang University (BUAA), Beijing, Peoples Republic of China
2: Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB), SMSS, Beihang University (BUAA), Beijing, Peoples Republic of China
-
Affiliations:
1: The Seventh Research Division and the Department of Systems and Control, Beihang University (BUAA), Beijing, Peoples Republic of China
- Source:
Volume 6, Issue 12,
16 August 2012,
p.
1933 – 1940
DOI: 10.1049/iet-cta.2011.0577 , Print ISSN 1751-8644, Online ISSN 1751-8652
This study is devoted to the L2–L∞ consensus problem for high-order multi-agent systems subjected to external disturbances. The network with time-varying delays is particularly taken into consideration under switching network topologies. By performing a model transformation, the consensus problem of the multi-agent systems is turned into a normal L2–L∞ control problem. Sufficient conditions in terms of linear matrix inequalities are derived to ensure that all agents could asymptotically reach consensus with a prescribed disturbance attenuation performance, which provide the allowable upper bound of communication delays. Numerical simulations are provided to demonstrate the effectiveness of our theoretic results.
Inspec keywords: stability; delays; topology; time-varying systems; linear matrix inequalities; multi-robot systems
Other keywords:
Subjects: Time-varying control systems; Stability in control theory; Combinatorial mathematics; Distributed parameter control systems; Linear algebra (numerical analysis); Robotics
References
-
-
1)
- Z. Li , Z. Duan , G. Chen . On H∞ and H2 performance regions of multi-agent systems. Automatica , 4 , 797 - 803
-
2)
- T. Li , J.F. Zhang . Consensus conditions of multi-agent systems with time-varying topologies and stochastic communication noises. IEEE Trans. Autom. Control , 9 , 2043 - 2057
-
3)
- W. Ren , K.L. Moore , Y. Chen . High-order and model reference consensus algorithms in cooperative control of multi-vehicle systems. ASME J. Dyn. Syst. Meas. Control , 5 , 678 - 688
-
4)
- Y.M. Jia . (2007) Robust .
-
5)
- Y. Hong , J. Hu , L. Gao . Tracking control for multi-agent consensus with an active leader and variable topology. Automatica , 7 , 1177 - 1182
-
6)
- Z. Lin , B.A. Francis , M. Maggiore . Necessary and sufficient graphical conditions for formation control of unicycles. IEEE Trans. Autom. Control , 121 - 127
-
7)
- S. Martínez . Practical multiagent rendezvous through modified circumcenter algorithms. Automatica , 2010 - 2017
-
8)
- R. Olfati-Saber , R.M. Murray . Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans. Autom. Control , 9 , 1520 - 1533
-
9)
- C.E. De Souza , X. Li . Delay-dependent robust H∞ control of uncertain linear state-delayed systems. Automatica , 7 , 1313 - 1321
-
10)
- F. Xiao , L. Wang . Consensus problems for high-dimensional multi-agent systems. IET Control Theory Appl. , 3 , 830 - 837
-
11)
- T. Vicsek , A. Czirok , E. Ben-Jacob , I. Cohen , O. Shochet . Novel type of phase transition in a system of self-driven particles. Phys. Rev. Lett. , 1226 - 1229
-
12)
- P.-A. Bliman , G. Ferrari-Trecate . Average consensus problems in networks of agents with delayed communications. Automatica , 8 , 1985 - 1995
-
13)
- Y. Liu , Y.M. Jia . Consensus problem of high-order multi-agent systems with external disturbances: An H∞ analysis approach. Int. J. Robust Nonlinear Control , 14 , 1579 - 1593
-
14)
- W. Ren , R.W. Beard . Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans. Autom. Control , 5 , 655 - 661
-
15)
- Walle, D., Fidan, B., Sutton, A., Yu, C., Anderson, B.: `Non-hierarchical UAV formation control for surveillance tasks', Proc. 27th American Control Conf., June 2008, Seattle, Washington, p. 777–782.
-
16)
- Ren, W.: `Second-order consensus algorithm with extensions to switching topologies and reference models', Proc. 26th American Control Conf., July 2007, New York, p. 1431–1436.
-
17)
- L. Moreau . Stability of multi-agent systems with time-dependent communication links. IEEE Trans. Autom. Control , 2 , 169 - 182
-
18)
- P. Lin , Y. Jia , L. Li . Distributed robust H∞ consensus control in directed networks of agents with time-delay. Syst. Control Lett. , 8 , 643 - 653
-
19)
- R.W. Beard , J. Lawton , F.Y. Hadaegh . A coordination architecture for spacecraft formation control. IEEE Trans. Control Syst. Technol. , 11 , 777 - 790
-
20)
- Kingston, D.B., Beard, R.W.: `Discrete-time average-consensus under switching network topologies', Proc. 25th American Control Conf., June 2006, Minneapolis, Minnesota, p. 3551–3556.
-
21)
- Y. Sun , L. Wang , G. Xie . Average consensus in networks of dynamic agents with switching topologies and multiple time-varying delays. Syst. Control Lett. , 175 - 183
-
22)
- Baqer, M.: `Enabling collaboration and coordination of wireless sensor networks via social networks', Proc. Sixth Int. Conf. on Distributed Computing in Sensor Systems Workshops (DCOSSW), June 2010, Santa Barbara, California, p. 1–2.
-
23)
- A. Jadbabaie , J. Lin , A.S. Morse . Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. Autom. Control , 6 , 988 - 1001
-
24)
- Z.K. Li , Z.S. Duan , G.R. Chen , L. Huang . Consensus of multi-agent systems and synchronization of complex networks: a unified viewpoint. IEEE Trans. Cir. Syst. I, Reg. Papers , 1 , 213 - 224
-
25)
- M. Porfiri , D. Roberson , D. Stilwell . Tracking and formation control of multiple autonomous agents: a two-level consensus approach. Automatica , 8 , 1318 - 1328
-
1)