Consensus of Continuous-Time Multiagent Systems via Delayed Output Feedback: Delay Versus Connectivity

• 成果类型: Article
• 署名作者: Qi, Tian; Lu, Renquan; Chen, Jie
• 署名单位: South China University of Technology; Guangdong University of Technology; Guangdong University of Technology; City University of Hong Kong
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2991131
• 发表日期: 2021
• 页码: 1329-1336
• 关键词: Optimized production technology; DELAYS; Poles and zeros; Protocols; Output feedback; Network topology; Delay effects; Analytic interpolation; consensus; multiagent systems (MASs); time delay

摘要

This article studies the consensus problem for continuous-time linear time-invariant multiagent systems, in which the agents exchange information through delayed communication channels in a fixed undirected topology. Our primary objective is to characterize explicitly the delay effect on consensus in the framework of distributed dynamic output feedback control and its implication on the graph network connectivity. For this purpose, we tackle and solve the consensus problem in the spirit of gain margin problem, using analytic interpolation techniques. We develop an explicit condition for consensus. The result provides a limit on network connectivity imposed by time delays as well as by the agent's unstable poles and nonminimum phase zeros.