Delayed-Compensation Algorithm for Second-Order Leader-Following Consensus Seeking under Communication Delay

Entropy

Cheng-Lin Liu¹  Fei Liu² 

[1] Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi 214122, China; E-Mail

关键词: second-order multi-agent systems;    communication delay;    leader-following consensus problem;    delayed-compensation algorithm;   

DOI  :  10.3390/e17063752

来源: mdpi

【 摘 要 】

In this paper, the leader-following consensus algorithm, which is accompanied with compensations related to neighboring agents’ delayed states, is constructed for second-order multi-agent systems with communication delay. Using frequency-domain analysis, delay-independent and delay-dependent consensus conditions are obtained for second-order agents respectively to converge to the dynamical leader’s states asymptotically. Simulation illustrates the correctness of the results.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland