This study addresses the consensus problem and its stability for a group of agents with second order dynamics and feedback time delays. It is assumed that all the agents in the group communicate with the same number of agents, and that the time delay incurred remains constant and the same for all the interagent communication channels. A decentralized control structure of PD type is proposed to create consensus in the position and velocity of the agents. Contribution of the paper is in the peculiar construction of the system characteristic equation owing to the proposed control law, which is exploited to effectively execute the stability analysis in the delay space. A complete stability picture is obtained taking into account the variations in both the control parameters and the communication delay. Case studies and simulations results are presented to verify the analytical derivations.
- Dynamic Systems and Control Division
Stability of the Consensus of a Group of Second Order Agents With Time Delayed Communications
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Cepeda-Gomez, R, & Olgac, N. "Stability of the Consensus of a Group of Second Order Agents With Time Delayed Communications." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 361-368. ASME. https://doi.org/10.1115/DSCC2010-4008
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