Abstract In this paper, we focus on the average consensus problem with varying time-delays for second-order dynamic agents within a network of fixed topologies. Some typical network effects are elaborated, such as network conditions that induced delays, packet dropouts, error-sequence, etc. Based on Gersgorin Disks theorem, we discuss in-depth the necessary condition and the time delays’ upper bound for system stability. Then the stability theory is used in consensus strategy design, avoiding the communication error caused by network time-delays. A group agents consensus algorithm with transmission-receive buffer and buffer length a selection method are proposed. Using this buffer design method, agent can transmit and receive data with original order. The proposed algorithm is test in MATLAB simulation environment with 2 typical examples. The simulation results show the effectiveness of the algorithm. With the proposed consensus algorithm, all agents are matched with the average speed, and network time-delay effects are reduced.
Second-Order Average Consensus with Buffer Design in Multi-agent System with Time-Varying Delay
2017-01-01
12 pages
Article/Chapter (Book)
Electronic Resource
English
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