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Delayed Consensus Problem for Single and Double Integrator Systems
Joint Authors
Velasco-Villa, Martín
Heras-Godínez, Josué
Vázquez-Santacruz, José Alejandro
Fragoso-Rubio, Varinia
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-04-07
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
This work deals with the analysis of the consensus problem for networks of agents constituted by single and double integrator systems.
It is assumed that the communication among agents is affected by a constant time-delay.
Previous and numerous analysis of the problem shows that the maximum communication time-delay that can be introduced to the network without affecting the consensus of the group of the agents depends on the considered topology.
In this work, a control scheme that is based on the estimation of future states of the agents and that allows increasing the magnitude of a possible time-delay affecting the communication channels is proposed.
How the proposed delay compensation strategy is independent of the network topology in the sense that the maximum allowable time-delay that could be supported by the network depends on a design parameter and not on the maximum eigenvalue of the corresponding Laplacian matrix is shown.
It is formally proven that, under the proposed prediction scheme, the consensus of the group can be achieved by improving the maximum time-delay bounds previously reported in the literature.
Numerical simulations show the effectiveness of the proposed solution.
American Psychological Association (APA)
Velasco-Villa, Martín& Heras-Godínez, Josué& Vázquez-Santacruz, José Alejandro& Fragoso-Rubio, Varinia. 2015. Delayed Consensus Problem for Single and Double Integrator Systems. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1073883
Modern Language Association (MLA)
Velasco-Villa, Martín…[et al.]. Delayed Consensus Problem for Single and Double Integrator Systems. Mathematical Problems in Engineering No. 2015 (2015), pp.1-15.
https://search.emarefa.net/detail/BIM-1073883
American Medical Association (AMA)
Velasco-Villa, Martín& Heras-Godínez, Josué& Vázquez-Santacruz, José Alejandro& Fragoso-Rubio, Varinia. Delayed Consensus Problem for Single and Double Integrator Systems. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1073883
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073883