A combined frequency-domain technique is applied to investigate the stability of a distributed multi-agent system, where consensus regulation with constant final velocity is used and input and communication delays are considered. Firstly, based on a geometric method, characteristic quasipolynomial equation of the system is transformed into several simple geometry problems in the complex plane and used to draw stability crossing curves, which is crucial to stability map in delay space. This geometric approach presents efficiency in the calculation of quasipolynomial equations. Then another method is proposed to calculate the crossing direction of imaginary roots as delays on stability crossing curves travel along arbitrary vectors, and this method is used to identify the stable domains in delays space. Simulations are presented to demonstrate the feasibilty of our methods.
Stability Analysis of Consensus Regulation with Constant Final Velocity and Input and Communication Delays: A Combined Approach
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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