Exact computation of maximal allowable delay for general second-order multi-agents consensus
Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
Author(s)
Related Research Unit(s)
Detail(s)
| Original language | English |
|---|---|
| Journal / Publication | International Journal of Robust and Nonlinear Control |
| Online published | 9 Mar 2021 |
| Publication status | Online published - 9 Mar 2021 |
Link(s)
| DOI | DOI |
|---|---|
| Document Link | |
| Link to Scopus | https://www.scopus.com/record/display.uri?eid=2-s2.0-85102203085&origin=recordpage |
| Permanent Link | https://scholars.cityu.edu.hk/en/publications/publication(1f486cd2-5d6b-4961-8f39-5178d8ef386f).html |
Abstract
The delay consensus margin (DCM) defines the largest delay range within which a distributed feedback control protocol can achieve and maintain the consensus robustly against uncertain time delays. This article investigates the exact computation of the DCM for general second-order multi-agent systems (MASs) under distributed proportional-derivative (PD) feedback, or alternatively known as position and velocity feedback protocols over undirected graphs. We consider MASs with uncertain constant delays, and derive the DCM expression for second-order agents and show that it can be determined by solving a non-smooth quasi-concave optimization problem. The DCM as such, can be computed via convex optimization methods.
Research Area(s)
- delay consensus margin, delay uncertainty, quasi-concave optimization, second-order multi-agent systems
Citation Format(s)
Exact computation of maximal allowable delay for general second-order multi-agents consensus. / Ma, Dan; Chen, Jie; Chai, Tianyou.
In: International Journal of Robust and Nonlinear Control, 09.03.2021.Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
