- Title
- Consensus of a class of second-order nonlinear heterogeneous multi-agent systems with uniform time delay
- Creator
- Meng, Haofei; Chen, Zhiyong; Zhu, Lijin; Middleton, Richard
- Relation
- 2015 IEEE 54th Annual Conference on Decision and Control (CDC). Proceedings of the 2015 IEEE 54th Annual Conference on Decision and Control (Osaka, Japan 15-18 December, 2015) p. 2341-2346
- Relation
- ARC.DP130103039
- Publisher Link
- http://dx.doi.org/10.1109/CDC.2015.7402557
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2016
- Description
- In this paper, a consensus problem is studied for a group of second-order nonlinear heterogeneous agents with uniform time delay in communication links and uncertainty in agent dynamics. We design a class of novel decentralized control protocols for the consensus problem whose solvability is converted into stability analysis of an associated closed-loop system with uncertainty and time delay. Using an explicitly constructed Lyapunov functional, stability conditions and solvability conditions of the consensus problem are given in terms of a set of linear matrix inequalities (LMIs) apart from a small number of scalar parameters that appear nonlinearly. The effectiveness of the proposed control protocol is illustrated by numerical examples.
- Subject
- delays; delay effects; multi-agent systems; protocols; uncertainty; nonlinear dynamical systems; closed loop systems
- Identifier
- http://hdl.handle.net/1959.13/1323432
- Identifier
- uon:24810
- Identifier
- ISBN:9781479978861
- Language
- eng
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