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Stability of a second order consensus algorithm with time delay

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3 Author(s)
Wen Yang ; Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China ; Bertozzi, A.L. ; Xiaofan Wang

In this paper, we investigate a second order consensus problem in a directed graph with non-uniform time delay. This problem arises naturally in real multi-agent systems such as distributed sensing and collective motion. We analyze convergence of the consensus algorithm by frequency domain methods. By using the small -¿ stability theorem, we derive criteria to guarantee convergence. Furthermore, we extend the analysis to higher order systems with time delay. Finally, we present simulations to illustrate theoretical results.

Published in:

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Date of Conference:

9-11 Dec. 2008