Abstract
In this paper, we focus on the average consensus problem with varying time-delays for second-order dynamic agents within a network of fixed topologies. Some typical network effects are elaborated, such as network conditions that induced delays, packet dropouts, error-sequence, etc. Based on Gersgorin Disks theorem, we discuss in-depth the necessary condition and the time delays’ upper bound for system stability. Then the stability theory is used in consensus strategy design, avoiding the communication error caused by network time-delays. A group agents consensus algorithm with transmission-receive buffer and buffer length a selection method are proposed. Using this buffer design method, agent can transmit and receive data with original order. The proposed algorithm is test in MATLAB simulation environment with 2 typical examples. The simulation results show the effectiveness of the algorithm. With the proposed consensus algorithm, all agents are matched with the average speed, and network time-delay effects are reduced.
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This work supported by the National Key Research and Development Program (2016YFC1400403), and the Youth Science and Technology Innovation Fund Of Shandong Agricultural University.
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Yang, J., Hui, L., Wang, P., Li, Y. (2017). Second-Order Average Consensus with Buffer Design in Multi-agent System with Time-Varying Delay. In: Yue, D., Peng, C., Du, D., Zhang, T., Zheng, M., Han, Q. (eds) Intelligent Computing, Networked Control, and Their Engineering Applications. ICSEE LSMS 2017 2017. Communications in Computer and Information Science, vol 762. Springer, Singapore. https://doi.org/10.1007/978-981-10-6373-2_41
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DOI: https://doi.org/10.1007/978-981-10-6373-2_41
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