Consensus seeking in multi-agent systems with an active leader and communication delays

Lixin Gao; Yutao Tang; Wenhai Chen; Hui Zhang

Kybernetika (2011)

  • Volume: 47, Issue: 5, page 773-789
  • ISSN: 0023-5954

Abstract

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In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The dynamics of the active leader is given in a general form of linear system. The switching interconnection topology with communication delay among the agents is taken into consideration. A neighbor-based estimator is designed for each agent to obtain the unmeasurable state variables of the dynamic leader, and then a distributed feedback control law is developed to achieve consensus. The feedback parameters are obtained by solving a Riccati equation. By constructing a common Lyapunov function, some sufficient conditions are established to guarantee that each agent can track the active leader by assumption that interconnection topology is undirected and connected. We also point out that some results can be generalized to a class of directed interaction topologies. Moreover, the input-to-state stability (ISS) is obtained for multi-agent system with variable interconnection topology and communication delays in a disturbed environment.

How to cite

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Gao, Lixin, et al. "Consensus seeking in multi-agent systems with an active leader and communication delays." Kybernetika 47.5 (2011): 773-789. <http://eudml.org/doc/197122>.

@article{Gao2011,
abstract = {In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The dynamics of the active leader is given in a general form of linear system. The switching interconnection topology with communication delay among the agents is taken into consideration. A neighbor-based estimator is designed for each agent to obtain the unmeasurable state variables of the dynamic leader, and then a distributed feedback control law is developed to achieve consensus. The feedback parameters are obtained by solving a Riccati equation. By constructing a common Lyapunov function, some sufficient conditions are established to guarantee that each agent can track the active leader by assumption that interconnection topology is undirected and connected. We also point out that some results can be generalized to a class of directed interaction topologies. Moreover, the input-to-state stability (ISS) is obtained for multi-agent system with variable interconnection topology and communication delays in a disturbed environment.},
author = {Gao, Lixin, Tang, Yutao, Chen, Wenhai, Zhang, Hui},
journal = {Kybernetika},
keywords = {multi-agent system; consensus; leader-following; time-delay; multi-agent system; consensus; leader-following; time-delay},
language = {eng},
number = {5},
pages = {773-789},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Consensus seeking in multi-agent systems with an active leader and communication delays},
url = {http://eudml.org/doc/197122},
volume = {47},
year = {2011},
}

TY - JOUR
AU - Gao, Lixin
AU - Tang, Yutao
AU - Chen, Wenhai
AU - Zhang, Hui
TI - Consensus seeking in multi-agent systems with an active leader and communication delays
JO - Kybernetika
PY - 2011
PB - Institute of Information Theory and Automation AS CR
VL - 47
IS - 5
SP - 773
EP - 789
AB - In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The dynamics of the active leader is given in a general form of linear system. The switching interconnection topology with communication delay among the agents is taken into consideration. A neighbor-based estimator is designed for each agent to obtain the unmeasurable state variables of the dynamic leader, and then a distributed feedback control law is developed to achieve consensus. The feedback parameters are obtained by solving a Riccati equation. By constructing a common Lyapunov function, some sufficient conditions are established to guarantee that each agent can track the active leader by assumption that interconnection topology is undirected and connected. We also point out that some results can be generalized to a class of directed interaction topologies. Moreover, the input-to-state stability (ISS) is obtained for multi-agent system with variable interconnection topology and communication delays in a disturbed environment.
LA - eng
KW - multi-agent system; consensus; leader-following; time-delay; multi-agent system; consensus; leader-following; time-delay
UR - http://eudml.org/doc/197122
ER -

References

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Citations in EuDML Documents

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  1. Yutao Tang, Output consensus of nonlinear multi-agent systems with unknown control directions
  2. Haibo Du, Yigang He, Yingying Cheng, Finite-time cooperative tracking control for a class of second-order nonlinear multi-agent systems
  3. Wenhai Chen, Lixin Gao, Xiaole Xu, Bingbing Xu, Distributed consensus control for discrete-time linear multi-agent systems with reduced-order observer
  4. Carlos López-Limón, Javier Ruiz, Alejandro Cervantes-Herrera, Antonio Ramírez-Treviño, Consensus and trajectory tracking of SISO linear multi-agent systems under switching communication topologies and formation changes

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