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Consensus control for multi-agent systems with double-integrator dynamics and time delays

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2 Author(s)
Hu, J. ; Sch. of Autom. Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China ; Lin, Y.S.

In this study, mathematical modelling and analysis for consensus problems will be conducted for a group of autonomous mobile agents with double-integrator dynamics and time-varying interconnection delays. To solve the problems, distributed control scheme for each agent will be proposed first. Then the consensus stability of the multi-agent system is obtained for the problem, where the dynamics of each agent is second-order with time-varying interconnection delays. In the convergence analysis, both fixed and switched interconnection topologies of the considered multi-agent system are investigated. Finally, some numerical examples are presented to validate the consensus algorithms.

Published in:

Control Theory & Applications, IET  (Volume:4 ,  Issue: 1 )