Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 55, Issue 6, Pages 1471-1477Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2010.2044274
Keywords
Delay effects; Lyapunov methods; multi-agent systems; networked control system; nonlinear systems; oscillator synchronization
Funding
- MathWorks Foundation in Science and Engineering
- German Research Foundation (DFG) [1305]
- EPSRC
- ARO MURI [W911NF-05-1-0381]
- ONR MURI [N000140810747]
- AFOSR
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The coordinated motion of multi-agent systems and oscillator synchronization are two important examples of networked control systems. In this technical note, we consider what effect multiple, non-commensurate (heterogeneous) communication delays can have on the consensus properties of large-scale multi-agent systems endowed with nonlinear dynamics. We show that the structure of the delayed dynamics allows functionality to be retained for arbitrary communication delays, even for switching topologies under certain connectivity conditions. The results are extended to the related problem of oscillator synchronization.
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