SIAM Journal on Control and Optimization
Average consensus problems in networks of agents with delayed communications
Automatica (Journal of IFAC)
Brief paper: Consensus protocols for discrete-time multi-agent systems with time-varying delays
Automatica (Journal of IFAC)
Brief paper: Synchronization in networks of identical linear systems
Automatica (Journal of IFAC)
Brief paper: Finite-time formation control for multi-agent systems
Automatica (Journal of IFAC)
Polynomial filtering for fast convergence in distributed consensus
IEEE Transactions on Signal Processing
Convergence rate for consensus with delays
Journal of Global Optimization
Distributed consensus for multi-agent systems with delays and noises in transmission channels
Automatica (Journal of IFAC)
Tracking control for multi-agent consensus with an active leader and variable topology
Automatica (Journal of IFAC)
Continuous-time and sampled-data-based average consensus with logarithmic quantizers
Automatica (Journal of IFAC)
Hi-index | 22.15 |
In this paper, we consider the synchronization of continuous multi-agent systems with integrator node dynamics. We comparatively study two control protocols, a standard local voting protocol, and a protocol that includes information about the control inputs of neighbors. It is shown that using control input information from neighbors improves performance in two aspects. First, the performance is improved with respect to a certain quadratic performance index defined herein and second, speed of convergence can be selected arbitrarily, independently of the graph topology. Realistically, control input information from neighbors can only be received after a time delay. It is therefore shown that the second protocol using time-delayed control input information from neighbors guarantees the synchronization of the multi-agent system for any nonnegative delay. Furthermore, it is shown that the convergence rate using time-delayed control inputs can still be selected with considerable freedom, and remains superior to the performance of the standard local voting protocol which depends on the graph topology. Some numerical examples and experiments are given to demonstrate the effectiveness of the new protocols.