Asynchronous Consensus in Continuous-Time Multi-Agent Systems With Switching Topology and Time-Varying Delays
741 citations recorded by the source corpus.
The paper studies asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented based on the state information of each agent's neighbors at some discrete times. The asynchrony means that each agent's update times, at which the agent adjusts its dynamics, are independent of others'. Furthermore, it is assumed that the communication topology among agents is time-dependent and the information transmission is with bounded time-varying delays. If the union of the communication topology across any time interval with some given length contains a spanning tree, the consensus problem is shown to be solvable. The analysis tool developed in this paper is based on nonnegative matrix theory and graph theory. The main contribution of this paper is to provide a valid distributed consensus algorithm that overcomes the difficulties caused by unreliable communication channels, such as intermittent information transmission, switching communication topology, and time-varying communication delays, and therefore has its obvious practical applications. Simulation examples are provided to demonstrate the effectiveness of the theoretical results.
Subfields: Computer Networks and Communications, Electrical and Electronic Engineering
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In Computer Networks and Communications
In Electrical and Electronic Engineering
Citations in the corpus
- An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination (2012, methodology): “For certain linear systems, it might be expected that asynchronous communication does n t affect the consensusability as shown in [106], [140] for single-integrator kinematics.”
- Asynchronous consensus of continuous-time multi-agent systems with intermittent measurements (2010, methodology): “Remark 4: In Xiao and Wang (2008), it was indicated that for asynchronous consensus problems of continuous-time first-order agents, the asymptotic states of agents are affected not only by their interaction topology and initial states, but also by discrete times at which agents obtain measurements.”
- Global consensus for discrete-time multi-agent systems with input saturation constraints (2014, background): “…networks (i.e., networks where the agent models are identical) has been considered (e.g., Olfati-Saber and Murray, 2004; Ren and Beard, 2005; Xiao and Wang, 2008; Scardovi and Sepulchre, 2009; Seo, Shim, and Back, 2009; Shi and Hong, 2009; Li, Duan, Chen, and Huang, 2010; Li, Du, and Lin,…”
- Consensus in networked multi-agent systems via sampled control: Fixed topology case (2009, background): “topologies and time-varying delays [8], [9], [10], higherorder consensus [11], [12], [13], asynchronous consensus [14], [15], agreement with random networks [16], [17], finitetime consensus [18], [19] and so on.”
- LQR‐based optimal topology of leader‐following consensus (2015, methodology): “Asynchronous consensus was further considered by Xiao and Wang [16] for MASs with switching topologies.”
- Partial state consensus for networks of second-order dynamic agents (2010, methodology): “It is a straightforward consequence of Assumptions (A1) and (A3) and the details are omitted, see Lemma 9 in [4] for similar discussions.”
- Consensus in networked multi-agent systems via sampled control: Switching topology case (2009, background): “Asynchronous consensus problem were considered in [18], [19], [20].”
- Recent Advances in Consensus of Multi-Agent Systems: A Brief Survey (2017, background): “[84], consensus with delays [10], [59], [61], [78], [91], [100], [104], optimal consensus [32], [50], [79], sampled-data consensus [61], adaptive consensus [17], [119], quantized consensus”
- Consensus of Multi-Agent Systems in Directed Networks With Nonuniform Time-Varying Delays (2009, neutral): “[ 15 ] F. C. Hoppensteadt, “Singular perturbations on the infinite interval,””