Nonlinear multi-agent system consensus with time-varying delays
Most consensus protocols for Multi-Agent Systems (MAS) presented in the past do not consider communication constraints such as delays in the exchange of information between the agents. In this paper, we provide conditions for a nonlinear, locally passive MAS with time-varying communication delays to...
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| Format: | Conference item |
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2008
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| _version_ | 1797071782460522496 |
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| author | Muenz, U Papachristodoulou, A Allgower, F |
| author_facet | Muenz, U Papachristodoulou, A Allgower, F |
| author_sort | Muenz, U |
| collection | OXFORD |
| description | Most consensus protocols for Multi-Agent Systems (MAS) presented in the past do not consider communication constraints such as delays in the exchange of information between the agents. In this paper, we provide conditions for a nonlinear, locally passive MAS with time-varying communication delays to reach a consensus, using a recently presented method based on an invariance principle for Lyapunov-Razumikhin functions. We consider both the cases of fixed and switching topologies. In the case of a fixed topology, the underlying directed graph has to contain a spanning tree. In the case of a switching topology, only the union graph of all graphs that persist over time is required to contain a spanning tree. Copyright © 2007 International Federation of Automatic Control All Rights Reserved. |
| first_indexed | 2024-03-06T22:58:10Z |
| format | Conference item |
| id | oxford-uuid:61252a90-1fdb-4c0a-b21b-d82308fb0171 |
| institution | University of Oxford |
| last_indexed | 2024-03-06T22:58:10Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | oxford-uuid:61252a90-1fdb-4c0a-b21b-d82308fb01712022-03-26T17:57:52ZNonlinear multi-agent system consensus with time-varying delaysConference itemhttp://purl.org/coar/resource_type/c_5794uuid:61252a90-1fdb-4c0a-b21b-d82308fb0171Symplectic Elements at Oxford2008Muenz, UPapachristodoulou, AAllgower, FMost consensus protocols for Multi-Agent Systems (MAS) presented in the past do not consider communication constraints such as delays in the exchange of information between the agents. In this paper, we provide conditions for a nonlinear, locally passive MAS with time-varying communication delays to reach a consensus, using a recently presented method based on an invariance principle for Lyapunov-Razumikhin functions. We consider both the cases of fixed and switching topologies. In the case of a fixed topology, the underlying directed graph has to contain a spanning tree. In the case of a switching topology, only the union graph of all graphs that persist over time is required to contain a spanning tree. Copyright © 2007 International Federation of Automatic Control All Rights Reserved. |
| spellingShingle | Muenz, U Papachristodoulou, A Allgower, F Nonlinear multi-agent system consensus with time-varying delays |
| title | Nonlinear multi-agent system consensus with time-varying delays |
| title_full | Nonlinear multi-agent system consensus with time-varying delays |
| title_fullStr | Nonlinear multi-agent system consensus with time-varying delays |
| title_full_unstemmed | Nonlinear multi-agent system consensus with time-varying delays |
| title_short | Nonlinear multi-agent system consensus with time-varying delays |
| title_sort | nonlinear multi agent system consensus with time varying delays |
| work_keys_str_mv | AT muenzu nonlinearmultiagentsystemconsensuswithtimevaryingdelays AT papachristodouloua nonlinearmultiagentsystemconsensuswithtimevaryingdelays AT allgowerf nonlinearmultiagentsystemconsensuswithtimevaryingdelays |