Bounds on Delay Margin for Consensus of Second-Order Multi-Agent Systems

Dan Ma; Rui Tian; Adil Zulfiqar; Jie Chen; Tianyou Chai

doi:10.1109/CDC.2018.8619085

Bounds on Delay Margin for Consensus of Second-Order Multi-Agent Systems

Dan Ma^*, Rui Tian, Adil Zulfiqar^*, Jie Chen^*, Tianyou Chai^*

^*Corresponding author for this work

Department of Electrical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

Abstract

This paper studies the delay margin and its bounds for second-order multi-agent systems to achieve robust consensus with respect to uncertain delays varying within a range. The issue under investigation dwells on the question: What is the largest delay range within which a distributed control protocol is able to achieve and maintain the consensus? We consider several second-order agents with different poles distributing on the complex plane communicating over an undirected network topology, and derive bounds on the delay margin. The results show that for a strictly unstable second-order multi-agent system, its consensuability robustness depends on the pole locations of the agents, as well as on the eigen-ratio of the network graph.

Original language	English
Title of host publication	2018 IEEE Conference on Decision and Control, CDC 2018
Publisher	IEEE
Pages	2982-2987
ISBN (Electronic)	978-1-5386-1395-5
DOIs	https://doi.org/10.1109/CDC.2018.8619085
Publication status	Published - Dec 2018
Event	57th IEEE Conference on Decision and Control (CDC 2018) - Miami, United States Duration: 17 Dec 2018 → 19 Dec 2018

Publication series

Name	IEEE Conference on Decision and Control
ISSN (Print)	0743-1546

Conference

Conference	57th IEEE Conference on Decision and Control (CDC 2018)
Place	United States
City	Miami
Period	17/12/18 → 19/12/18

Research Keywords

NETWORKS
AGENTS
INPUT

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10.1109/CDC.2018.8619085

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@inproceedings{3c9f0f34ed6b44e886640bd2da1bfe8d,

title = "Bounds on Delay Margin for Consensus of Second-Order Multi-Agent Systems",

abstract = "This paper studies the delay margin and its bounds for second-order multi-agent systems to achieve robust consensus with respect to uncertain delays varying within a range. The issue under investigation dwells on the question: What is the largest delay range within which a distributed control protocol is able to achieve and maintain the consensus? We consider several second-order agents with different poles distributing on the complex plane communicating over an undirected network topology, and derive bounds on the delay margin. The results show that for a strictly unstable second-order multi-agent system, its consensuability robustness depends on the pole locations of the agents, as well as on the eigen-ratio of the network graph.",

keywords = "NETWORKS, AGENTS, INPUT",

author = "Dan Ma and Rui Tian and Adil Zulfiqar and Jie Chen and Tianyou Chai",

year = "2018",

month = dec,

doi = "10.1109/CDC.2018.8619085",

language = "English",

series = "IEEE Conference on Decision and Control",

publisher = "IEEE",

pages = "2982--2987",

booktitle = "2018 IEEE Conference on Decision and Control, CDC 2018",

address = "United States",

note = "57th IEEE Conference on Decision and Control (CDC 2018) ; Conference date: 17-12-2018 Through 19-12-2018",

}

Ma, D, Tian, R, Zulfiqar, A , Chen, J & Chai, T 2018, Bounds on Delay Margin for Consensus of Second-Order Multi-Agent Systems. in 2018 IEEE Conference on Decision and Control, CDC 2018., 8619085, IEEE Conference on Decision and Control, IEEE, pp. 2982-2987, 57th IEEE Conference on Decision and Control (CDC 2018), Miami, Florida, United States, 17/12/18. https://doi.org/10.1109/CDC.2018.8619085

Bounds on Delay Margin for Consensus of Second-Order Multi-Agent Systems. / Ma, Dan; Tian, Rui; Zulfiqar, Adil et al.
2018 IEEE Conference on Decision and Control, CDC 2018. IEEE, 2018. p. 2982-2987 8619085 (IEEE Conference on Decision and Control).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Bounds on Delay Margin for Consensus of Second-Order Multi-Agent Systems

AU - Ma, Dan

AU - Tian, Rui

AU - Zulfiqar, Adil

AU - Chen, Jie

AU - Chai, Tianyou

PY - 2018/12

Y1 - 2018/12

N2 - This paper studies the delay margin and its bounds for second-order multi-agent systems to achieve robust consensus with respect to uncertain delays varying within a range. The issue under investigation dwells on the question: What is the largest delay range within which a distributed control protocol is able to achieve and maintain the consensus? We consider several second-order agents with different poles distributing on the complex plane communicating over an undirected network topology, and derive bounds on the delay margin. The results show that for a strictly unstable second-order multi-agent system, its consensuability robustness depends on the pole locations of the agents, as well as on the eigen-ratio of the network graph.

AB - This paper studies the delay margin and its bounds for second-order multi-agent systems to achieve robust consensus with respect to uncertain delays varying within a range. The issue under investigation dwells on the question: What is the largest delay range within which a distributed control protocol is able to achieve and maintain the consensus? We consider several second-order agents with different poles distributing on the complex plane communicating over an undirected network topology, and derive bounds on the delay margin. The results show that for a strictly unstable second-order multi-agent system, its consensuability robustness depends on the pole locations of the agents, as well as on the eigen-ratio of the network graph.

KW - NETWORKS

KW - AGENTS

KW - INPUT

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U2 - 10.1109/CDC.2018.8619085

DO - 10.1109/CDC.2018.8619085

M3 - RGC 32 - Refereed conference paper (with host publication)

T3 - IEEE Conference on Decision and Control

SP - 2982

EP - 2987

BT - 2018 IEEE Conference on Decision and Control, CDC 2018

PB - IEEE

T2 - 57th IEEE Conference on Decision and Control (CDC 2018)

Y2 - 17 December 2018 through 19 December 2018

ER -

Bounds on Delay Margin for Consensus of Second-Order Multi-Agent Systems

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