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In recent years, there has been the increasing interest in the research on the consensus of multi-agent systems because of the need of application and the development of technology. In communication networks and engineering applications, due to signal propagation delays, time delay may exist in the consensus state of systems. In this paper, a concept on delay consensus is first defined, and then the problem of first-order delay consensus in leader-following multi-agent systems is discussed. By designing an appropriate control protocol and using the graph theory, matrix theory and Lyapunov stability theory, a sufficient condition is given to realize delay consensus of the multi-agent systems. Numerical simulations are given to verify the theoretical results.
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Keywords:
- multi-agent system /
- consensus /
- delay
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[2] Yeh H, Nelson E, Sparks A 2002 AIAA J. Guidance Control Dynamics 25 376
[3] Vicsek T, Cziroo'k A, Ben-Jacob E, Cohen I, Shochet O 1995 Phys. Rev. Lett. 75 1226
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[5] Li Z, Duan Z, Chen G, Huang L 2010 IEEE Trans. Circ. Sys. I: Regular Papers 57 213
[6] Yin S, Luo H, Ding S 2014 IEEE Trans. Industr. Electron. 61 2402
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[13] Hu J P, Yuan H W 2009 Chin. Phys. B 18 3777
[14] Porfiri M, Roberson D G, Stilwell D J 2007 Automatica 43 1318
[15] Fax J A, Murray R M 2004 IEEE Trans. Autom. Control 49 1455
[16] Olfati-Saber R 2006 IEEE Trans. Autom. Control 51 401
[17] Sinopoli B, Schenato L, Franceschetti M, Poola K, Jordan M I, Sastry S S 2004 IEEE Trans. Autom. Control 49 1453
[18] Stankovic J A, Abdelzaher T E, Lu C 2003 Proc. IEEE 91 1002
[19] Su H S, Wang X F, Lin Z L 2009 IEEE Trans. Autom. Control 54 293
[20] Olfati-Saber R, Murray R M 2004 IEEE Trans. Autom. Control 49 1520
[21] Wang W, Slotins J 2006 IEEE Trans. Autom. Control 51 413
[22] Yu Y B, Bao J F, Zhang H B, Zhong Q S, Liao X F, Yu J B 2008 Chin. Phys. B 17 2377
[23] Liu C L, Liu F 2011 Acta Phys. Sin. 60 030202 (in Chinese) [刘成林, 刘飞 2011 60 030202]
[24] Mu S M, Chu T G, Wang L 2005 Physica A 351 211
[25] Ji L H, Liao X F 2012 Acta Phys. Sin. 61 150202 (in Chinese) [纪良浩, 廖晓峰 2012 61 150202]
[26] Ren W 2007 Sys. Control Lett. 56 474
[27] Jadbabaie A, Lin J, Morse A S 2003 IEEE Trans. Autom. Control 48 988
[28] Zhu W, Cheng D Z 2010 Automatica 46 1994
[29] Yu W W, Ren W, Zheng W X, Chen G R, L J H 2013 Automatica 49 2107
[30] Yang H Y, Tian S W, Zhang S Y 2011 Acta Electron. Sin. 39 872 (in Chinese) [杨洪勇, 田生文, 张嗣瀛 2011 电子学报 39 872]
[31] Lin Q, Wu X F 2011 J. Naval Univ. Engineer. 23 1 (in Chinese) [林茜, 吴晓锋 2011 海军工程大学学报 23 1]
[32] Peng K, Yang Y P 2009 Physica A 388 193
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[1] Eyre J, Yanakiev D, Kanellakopoulos I 1998 Veh. Sys. Dyn. 30 375
[2] Yeh H, Nelson E, Sparks A 2002 AIAA J. Guidance Control Dynamics 25 376
[3] Vicsek T, Cziroo'k A, Ben-Jacob E, Cohen I, Shochet O 1995 Phys. Rev. Lett. 75 1226
[4] Yin S, Ding S, Haghani A, Hao H Y, Zhang P 2012 J. Proc. Control 22 1567
[5] Li Z, Duan Z, Chen G, Huang L 2010 IEEE Trans. Circ. Sys. I: Regular Papers 57 213
[6] Yin S, Luo H, Ding S 2014 IEEE Trans. Industr. Electron. 61 2402
[7] Yin S, Ding S, Haghani A, Hao H Y 2013 Int. J. Sys. Sci. 44 1366
[8] Liu T L, Huang H J 2007 Acta Phys. Sin. 56 6321 (in Chinese) [刘天亮, 黄海军 2007 56 6321]
[9] Qi W, Xu X J, Wang Y H 2009 Chin. Phys. B 18 4217
[10] Zhang C X, Li H, Lin P 2008 Chin. Phys. B 17 4458
[11] Li Y M, Guan X P 2009 Chin. Phys. B 18 3355
[12] Chen D L, Zhang W D 2008 Chin. Phys. B 17 1506
[13] Hu J P, Yuan H W 2009 Chin. Phys. B 18 3777
[14] Porfiri M, Roberson D G, Stilwell D J 2007 Automatica 43 1318
[15] Fax J A, Murray R M 2004 IEEE Trans. Autom. Control 49 1455
[16] Olfati-Saber R 2006 IEEE Trans. Autom. Control 51 401
[17] Sinopoli B, Schenato L, Franceschetti M, Poola K, Jordan M I, Sastry S S 2004 IEEE Trans. Autom. Control 49 1453
[18] Stankovic J A, Abdelzaher T E, Lu C 2003 Proc. IEEE 91 1002
[19] Su H S, Wang X F, Lin Z L 2009 IEEE Trans. Autom. Control 54 293
[20] Olfati-Saber R, Murray R M 2004 IEEE Trans. Autom. Control 49 1520
[21] Wang W, Slotins J 2006 IEEE Trans. Autom. Control 51 413
[22] Yu Y B, Bao J F, Zhang H B, Zhong Q S, Liao X F, Yu J B 2008 Chin. Phys. B 17 2377
[23] Liu C L, Liu F 2011 Acta Phys. Sin. 60 030202 (in Chinese) [刘成林, 刘飞 2011 60 030202]
[24] Mu S M, Chu T G, Wang L 2005 Physica A 351 211
[25] Ji L H, Liao X F 2012 Acta Phys. Sin. 61 150202 (in Chinese) [纪良浩, 廖晓峰 2012 61 150202]
[26] Ren W 2007 Sys. Control Lett. 56 474
[27] Jadbabaie A, Lin J, Morse A S 2003 IEEE Trans. Autom. Control 48 988
[28] Zhu W, Cheng D Z 2010 Automatica 46 1994
[29] Yu W W, Ren W, Zheng W X, Chen G R, L J H 2013 Automatica 49 2107
[30] Yang H Y, Tian S W, Zhang S Y 2011 Acta Electron. Sin. 39 872 (in Chinese) [杨洪勇, 田生文, 张嗣瀛 2011 电子学报 39 872]
[31] Lin Q, Wu X F 2011 J. Naval Univ. Engineer. 23 1 (in Chinese) [林茜, 吴晓锋 2011 海军工程大学学报 23 1]
[32] Peng K, Yang Y P 2009 Physica A 388 193
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