期刊
AUTOMATICA
卷 49, 期 6, 页码 1816-1820出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2013.02.044
关键词
Time delay; Delay margin; Multi-agent system; Unstable eigenvalue; Consensusability
资金
- National Natural Science Foundation of China [60825304, 61120106011]
- National Basic Research Development Program of China (973 Program) [2009cb320600]
- National Research Foundation of Singapore [NRF-CRP8-2011-03]
In this paper, we are concerned with the consensus of multi-agent systems with input delay. Among all standard static protocols that achieve the consensus for the multi-agent system under no input delay, we aim to find the maximum input delay such that the system remains consensusable under the same protocols. In the case of continuous-time systems, in view of the continuity of stability with respect to the time delay, the maximum delay margin for consensusability is given for scalar systems and vector systems with a single unstable open-loop pole. For scalar discrete-time systems, we show that the maximum delay margin for consensusability is strictly greater than zero if and only if the open-loop pole of the system is located in a specified interval. (C) 2013 Elsevier Ltd. All rights reserved.
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