1. Analysis of average consensus of multi-agent systems with time delay using packet selection and synchronization protocol
- Author
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Binh Minh Nguyen, Tatsuo Narikiyo, Michihiro Kawanishi, Tran Huynh Ngoc, and Satoshi Kikuchi
- Subjects
Lyapunov function ,State variable ,Network packet ,Computer science ,Applied Mathematics ,Linear matrix inequality ,Synchronization ,Computer Science Applications ,Linear dynamical system ,symbols.namesake ,Control and Systems Engineering ,Control theory ,symbols ,Electrical and Electronic Engineering ,Instrumentation ,Selection algorithm - Abstract
A stabilization approach for the average consensus of homogeneous multi-agent systems (MASs) entailing non-uniform, asymmetric, and time-varying delays in communication networks is proposed. Agents are modeled using a continuous-time linear dynamical system with a local discrete-time controller. To address communication delays, we propose two logic functions, namely, a packet selection algorithm that constantly selects and updates the latest received control signal packets and a synchronization algorithm that asymmetrically synchronizes these packets to preserve the average value of state variables. Based on the Lyapunov theory, we establish a linear matrix inequality (LMI) condition that sufficiently guarantees the stability and consensus of the overall system. To establish this condition, only the time delay upper bound is required, without any special assumptions on the delay pattern. We thoroughly discuss the proposed algorithm and evaluate its effectiveness via numerical simulations.
- Published
- 2022
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