This paper revisits an earlier investigation on a leader-follower consensus problem [1] affected by multiple time delays. The new perspective is in the use of a novel analysis technique which provides exact, exhaustive and explicit stability margins in the domain of the time delay. This methodology resides within the Cluster Treatment of Characteristic Roots (CTCR) paradigm, which is applied after a block diagonalization of the system takes place. Further novelty is described in the first stage of CTCR. At this step, the determination of the potential stability switching curves is achieved utilizing the concept of Spectral Delay Space, SDS. Example cases are provided in order to show the effectiveness of this procedure, and its advantages with respect to the peer treatments.
- Dynamic Systems and Control Division
Stability of a Second Order Leader-Follower Consensus Protocol With Partial Access to the Leader and Communication and Input Delays Available to Purchase
Cepeda-Gomez, R, & Olgac, N. "Stability of a Second Order Leader-Follower Consensus Protocol With Partial Access to the Leader and Communication and Input Delays." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 449-457. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8688
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