By Topic

Constrained Consensus in Unbalanced Networks With Communication Delays

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Peng Lin ; Sch. of Autom., Chongqing Univ., Chongqing, China ; Wei Ren

In this note, a constrained consensus problem is studied for multi-agent systems in unbalanced networks in the presence of communication delays. Here each agent needs to lie in a closed convex constraint set while reaching a consensus. The communication graphs are directed, dynamically changing, and not necessarily balanced and only the union of the graphs is assumed to be strongly connected among each time interval of a certain bounded length. The analysis is performed based on an undelayed equivalent system that is composed of a linear main body and an error auxiliary. To tackle the loss of symmetry caused by unbalanced graphs and communication delays, a novel approach is proposed. The idea is to estimate the distance from each agent to the intersection set of all agents' constraint sets based on the properties of the projection on convex sets so as to show consensus convergence by contradiction. It is shown that the error auxiliary vanishes as time evolves and the linear main body converges to a vector with an exponential rate as a separate system. It is also shown that the communication delays do not affect the consensus stability and constrained consensus is reached even if the communication delays are arbitrarily bounded. Finally, a numerical example is included to illustrate the obtained theoretical results.

Published in:

Automatic Control, IEEE Transactions on  (Volume:59 ,  Issue: 3 )