Consensus in the network with uniform constant communication delay
2012 (English)In: Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, IEEE , 2012, 5318-5323 p.Conference paper (Refereed)
This paper studies the consensus among identical agents that are at most critically unstable and coupled through networks with uniform constant communication delay. An achievable upper bound of delay tolerance is obtained which explicitly depends on agent dynamics and network topology. The dependence on network topology disappears in the case of undirected networks. For any delay satisfying this upper bound, a controller design methodology without exact knowledge of the network topology is proposed so that the multi-agent consensus in a set of unknown networks can be achieved. Moreover, when the network topology is known, a larger delay tolerance is possible via a topology-dependent consensus controller. The results are illustrated by simulations.
Place, publisher, year, edition, pages
IEEE , 2012. 5318-5323 p.
, Proceedings of the IEEE Conference on Decision and Control, ISSN 0191-2216
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-119189DOI: 10.1109/CDC.2012.6426845ScopusID: 2-s2.0-84874239006OAI: oai:DiVA.org:kth-119189DiVA: diva2:610302
51st IEEE Conference on Decision and Control, CDC 2012, 10 December 2012 through 13 December 2012, Maui, HI
QC 201303112013-03-112013-03-082013-03-11Bibliographically approved