Pose consensus control of multi‐agent rigid body systems with homogenous and heterogeneous communication delays

2022 ◽  
Author(s):  
Mohammad Maadani ◽  
Eric A. Butcher
Keyword(s):  
Rigid Body ◽  
Communication Delays ◽  
Consensus Control ◽  
Multi Agent

Reduced-order observer-based consensus control of linear multi-agent systems over directed networks with nonuniform communication delays

2020 ◽  
pp. 014233122093430
Author(s):  
Qiuzhen Wang ◽  
Jiangping Hu ◽  
Yiyi Zhao ◽  
Bijoy Kumar Ghosh
Keyword(s):  
Time Varying ◽  
Communication Delays ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Reduced Order ◽  
Reduced Order Observer ◽  
Multi Agent ◽  
The Stability ◽  
Output Information ◽  
Theoretical Results

This paper considers a consensus control of a general linear multi-agent system with time-varying communication delays. Since each agent can only use the relative output information from its neighbors, a reduced-order observer-based control protocol is proposed to guarantee consensus on the directed communication network. The stability of the closed-loop system is analyzed for the cases with uniform delays and nonuniform time-varying delays, respectively. Moreover, the upper bounds of the communication delays are obtained respectively for the two cases. Finally, two numerical examples are provided to illustrate the proposed theoretical results.

scholarly journals Distributed Event-Based Control of Hierarchical Leader-Follower Networks with Time-Varying Layer-To-Layer Delays

Energies ◽  
2020 ◽  
Vol 13 (7) ◽  
pp. 1808 ◽  
Author(s):  
Guang-Hui Xu ◽  
Meng Xu ◽  
Ming-Feng Ge ◽  
Teng-Fei Ding ◽  
Feng Qi ◽  
...  
Keyword(s):  
Closed Loop ◽  
Sufficient Conditions ◽  
Time Varying ◽  
Communication Delays ◽  
Control Parameters ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Loop Dynamics ◽  
Multi Agent ◽  
Event Based

Compared with the traditional multi-agent models, the hierarchical leader–follower network (HLFN) can describe some real-world multi-agent systems more precisely due to its layered properties. The distributed event-based consensus control problem of HLFNs with layer-to-layer delays, namely, communication delays among agents of different layers, is presented in this essay. In order to solve the aforementioned problem, several innovative hierarchical event-based control (HEC) algorithms are proposed. The sufficient conditions on the control parameters and event-triggered mechanism were derived to undertake the reliability of the closed-loop dynamics. Moreover, it is shown that the zeno-behaviors of the presented HEC algorithms can be excluded. Finally, there are some numerical examples that verify the availability of the results.

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