Journal
AUTOMATICA
Volume 45, Issue 5, Pages 1347-1353Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2009.01.009
Keywords
Multi-agent systems; Consensus; Robustness; Input delays
Funding
- National Natural Science Foundation of China [60425308]
- National 863 Programme of China [2006AA04Z263]
- Natural Science Foundation of Jiangsu Province of China [BK2006097]
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The consensus problem of second-order multi-agent systems with diverse input delays is investigated. Based on the frequency-domain analysis, decentralized consensus conditions are obtained for the multi-agent system with symmetric coupling weights. Then, the robustness of the symmetric system with asymmetric perturbation is studied. A bound of the largest singular value of the perturbation matrix is obtained as the robust consensus condition. Simulation examples illustrate the design procedure of consensus protocols and validate the correctness of the results. (C) 2009 Elsevier Ltd. All rights reserved.
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