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Consensus of single integrator multi-agent systems with directed topology and communication delays

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Abstract

In this paper, a distributed control scheme has been developed for consensus of single integrator multi-agent systems with directed fixed communication topology for arbitrarily large constant, time-varying or distributed communication delays. It is proved that the closed loop control system can reach consensus with an exponential convergence rate if and only if the topology is quasi-strongly connected. Simulation results are also provided to demonstrate the effectiveness of the proposed controller.

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Authors and Affiliations

  1. Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China

    Xiang Xu, Lu Liu & Gang Feng

Authors
  1. Xiang Xu
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  2. Lu Liu
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  3. Gang Feng
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Corresponding author

Correspondence to Gang Feng.

Additional information

This work was supported by the Research Grants Council of the Hong Kong Special Administrative Region of China (No. CityU/11203714).

Xiang XU received the Bachelor of Engineering degree in Automation from Nanjing University of Science and Technology, China in 2014. He is currently working towards the Ph.D. degree at City University of Hong Kong, Hong Kong. His research interests include multi-agent systems and time-delay systems.

Lu LIU received her Ph.D. degree in 2008 in the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong. From 2009 to 2012, she was an Assistant Professor in University of Tokyo, Japan, and then a Lecturer in University of Nottingham, United Kingdom. She is currently an Assistant Professor in the Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong. Her research interests are primarily in networked dynamical systems, control theory and applications, and biomedical devices. She received the Best Paper Award (Guan Zhaozhi Award) in the 27th Chinese Control Conference in 2008.

Gang FENG received the B.Eng and M.Eng. degrees in Automatic Control from Nanjing Aeronautical Institute, China in 1982 and in 1984 respectively, and the Ph.D. degree in Electrical Engineering from the University of Melbourne, Australia in 1992. He has been with City University of Hong Kong since 2000 where he is now Chair Professor of Mechatronic Engineering. He was lecturer/ senior lecturer at School of Electrical Engineering, University of New South Wales, Australia, 1992-1999. He was awarded an Alexander von Humboldt Fellowship in 1997, and the IEEE Transactions on Fuzzy Systems Outstanding Paper Award in 2007, and Changjiang chair professorship from Education Ministry of China in 2009. His current research interests include multi-agent systems and control, intelligent systems and control, and networked systems and control. Prof. Feng is an IEEE Fellow, an associate editor of IEEE Trans. Fuzzy Systems and Journal of Systems Science and Complexity, and was an associate editor of IEEE Trans. Automatic Control, IEEE Trans. Systems, Man & Cybernetics, Part C, Mechatronics, and Journal of Control Theory and Applications.

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Xu, X., Liu, L. & Feng, G. Consensus of single integrator multi-agent systems with directed topology and communication delays. Control Theory Technol. 14, 21–27 (2016). https://doi.org/10.1007/s11768-016-5122-x

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  • DOI: https://doi.org/10.1007/s11768-016-5122-x

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