Conditions for Consensus of Multi-Agent Systems With Time-Delays and Uncertain Switching Topology

• Published in: IEEE transactions on industrial electronics (1982) Vol. 63; no. 2; pp. 1258 - 1267
• Main Authors: Savino, Heitor J., dos Santos, Carlos R. P., Souza, Fernando O., Pimenta, Luciano C. A., de Oliveira, Mauricio, Palhares, Reinaldo M.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-02-2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Consensus analysis; Control systems; Delay; Delays; linear dynamics; Markov models; multi-agent system; Multi-agent systems; Multiagent systems; Network topology; Networks; Protocols; Switches; Switching; Switching theory; switching topology; Time-varying systems; timevarying delay; Topology; multi-agent system; time-varying delay; Consensus analysis; linear dynamics; switching topology
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2015.2504043

This paper proposes a new approach for the analysis of consensus of multi-agent systems subject to time-varying delayed control inputs and switching topology. The main contribution is a condition for consensus for a networked system based on linear matrix inequalities that takes into account the joint effect of time-varying delays and switching network topology. Topology changes are modeled using Markov jumps with uncertain rates of transitions. A practical example is shown to illustrate the main result in various scenarios.