Asynchronously compensated consensus algorithm for discrete-time second-order multi-agent systems under communication delay

作者：Liu, Cheng-Lin^*; Liu, Fei

来源：IET Control Theory and Applications, 2014, 8(17): 2004-2012.

DOI：10.1049/iet-cta.2014.0513

• discrete time systems
• multi-agent systems
• convergence
• frequency-domain analysis
• asynchronously compensated consensus algorithm
• communication delay
• dynamical consensus problem
• discrete second-order multiagent systems
• consensus convergence analysis
• coupled agents
• synchronously coupled consensus algorithm
• sufficient conditions
• leader-following consensus algorithm
• leaderless consensus algorithm

Asynchronously compensated consensus algorithm is proposed to solve the dynamical consensus problem of discrete-time second-order multi-agent systems with communication delay. By analysing the consensus convergence of two coupled agents according to frequency-domain analysis, the authors come to the conclusion that the asynchronously compensated algorithm can endure larger communication delay than the synchronously coupled consensus algorithm. In addition, sufficient conditions are gained for multiple discrete-time second-order agents with communication delay under leaderless and leader-following consensus algorithms, respectively. Numerical examples illustrate the correctness of the results.

• 出版日期2014-11-20
• 单位江南大学