Consensus for a Class of Multiagent Systems With Time Delays: A Systematic Study in Parameter Space

• 成果类型: Article
• 署名作者: Chen, Yu-Jiao; Li, Xu-Guang; Fan, Gao-Xia; Zhang, Yingwei
• 署名单位: Northeastern University - China
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3327621
• 发表日期: 2024
• 页码: 1796-1803
• 关键词: Delays; stability analysis; Taylor series; PD control; Multi-agent systems; Delay effects; Protocols; consensus; heterogenous free parameters; multiagent systems (MASs); STABILITY; time delays

摘要

This article considers the consensus of a general class of second-order multiagent systems (MASs) with time delays, where the controller is of the common proportional and derivative (PD) type. All the delay and the controller gains are treated as free parameters in this article, and our objective is to develop a parameter-space approach that has not been reported in the literature. First, we adopt the complete stability analysis w.r.t. delay under a given PD controller for the corresponding characteristic equations. Next, we divide the controller parameter plane. For each divided region, the type concerning the consensus property can be qualitatively determined. Combining the above steps, we present a parameter-space approach. By using this approach, we can qualitatively as well as quantitatively identify all the consensus set in the whole space of delay plus controller parameters. Finally, the effectiveness and advantage will be clearly demonstrated by examples.