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
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Detail(s)
Original language | English |
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Pages (from-to) | 9681-9695 |
Journal / Publication | International Journal of Robust and Nonlinear Control |
Volume | 32 |
Issue number | 18 |
Online published | 9 Mar 2021 |
Publication status | Published - Dec 2022 |
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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, Vol. 32, No. 18, 12.2022, p. 9681-9695.Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review