Skip to main content
Springer Nature Link
Log in

Weighted Average Consensus in Directed Networks of Multi-agents with Time-Varying Delay

  • Conference paper
  • First Online:
Neural Computing for Advanced Applications (NCAA 2021)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1449))

Included in the following conference series:

  • 1949 Accesses

Abstract

In this paper, we discuss the weighted average consensus problem of multi-agent system in directed networks with fixed topology and time-varying communication delay. By employing the method of linear matrix inequality and constructing a Lyapunov function, we analyze the convergence of the directed network, and get the maximum allowable upper bound of time-varying delay. Finally, the simulation of the fixed topology of multi-agent directed network is carried out to verify the theoretical results.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Egerstedt, M., Hu, X.: Formation constrained multi-agent control. In: Proceedings IEEE International Conference on Robotics & Automation, pp. 947–951 (2001)

    Google Scholar 

  2. Zhang, J., Hu, Q., Jiang, C., Ma, G.: Robust sliding mode attitude synchronization control of satellite formation with communication time-delay. In: Proceedings of the 32nd Chinese Control Conference., Xi’an, China, pp. 7005–7010 (2013)

    Google Scholar 

  3. He, L., Hou, Y., Liang, X., Zhang, J., Bai, P.: Time-varying formation tracking control for aircraft swarm with switching directed sympathetic networks. In: 3rd IEEE Information Technology, Networking, Electronic and Automation Control Conference (ITNEC), Chengdu, China, pp. 199–204 (2019)

    Google Scholar 

  4. Li, H., Ma, Q., Zhang, J.: Research on formation control technology for multiple flight vehicles based on consensus theory. In: 9th IEEE Joint International Information Technology and Artificial Intelligence Conference (ITAIC), Chongqing, China, pp. 1458–1462 (2020).

    Google Scholar 

  5. Dong, X., Zhou, Y., Ren, Z., Zhong, Y.: Time-varying formation tracking for second-order multi-agent systems subjected to switching topologies with application to quadrotor formation flying. IEEE Trans. Ind. Electron. 64(6), 5014–5024 (2017)

    Article  Google Scholar 

  6. Olfati-Saber, R., Fax, J.A., Murray, R.M.: Consensus and cooperation in networked multi-agent systems. Proc. IEEE 95(1), 215–233 (2007)

    Article  Google Scholar 

  7. Cheng, J., Wang, B.: Flocking control of mobile robots via simulated annealing algorithm. In: 39th Chinese Control Conference (CCC), Shenyang, China, pp. 3931–3935 (2020)

    Google Scholar 

  8. Li, W., Lin, P., Cai, G., Shang, T.: Multi-aircraft flight control method based on flocking theory. In: 2020 Chinese Automation Congress (CAC), pp. 1843–1848 (2020)

    Google Scholar 

  9. Wei, R.: Synchronized multiple spacecraft rotations: a revisit in the context of consensus building. In: American Control Conference IEEE, New York, USA (2007)

    Google Scholar 

  10. Mu, W.Q., Liu, R., Yang, X.X., Kamel, E.: Analysis of precision estimation of RF metrology in satellite formation flying. In: 2015 International Conference on Wireless Communications & Signal Processing (WCSP), Nanjing, China, pp. 1–5 (2015)

    Google Scholar 

  11. Chen, Y., Qi, D., Zhang, J., Wang, Z., Li, Z.: Study on distributed dynamic average consensus algorithm. In: 7th International Conference on Information, Communication and Networks (ICICN), Macao, China, pp. 225–229 (2019)

    Google Scholar 

  12. Xie, W., Ma, B.: Average consensus control of nonlinear uncertain multiagent systems. In: 36th Chinese Control Conference (CCC), Dalian, China, pp. 8299–8303 (2017)

    Google Scholar 

  13. Jian, L., Tian, J., Li, L., Li, J., Yang, S.: Continuous-time distributed control algorithm for multi-robot systems dynamic average consensus. In: 2020 Chinese Automation Congress (CAC), Shanghai, China, pp. 6051–6054 (2020)

    Google Scholar 

  14. Zhang, J., Gao, Y.: Average consensus in networks of multi-agent with switching topology and time-varying delay. In: 2016 Chinese Control and Decision Conference (CCDC), Yinchuan, China, pp. 71–76 (2016)

    Google Scholar 

  15. Jiang, X., Jin, X.Z.: Average consensus problems of a class of multi-agent systems against perturbations. In: 2010 Chinese Control and Decision Conference, Xuzhou, China, pp. 3518–3522 (2010)

    Google Scholar 

  16. Shang, Y.: Finite-time weighted average consensus and generalized consensus over a subset. IEEE Access 4, 2615–2620 (2016)

    Article  Google Scholar 

  17. Yu, H., Jian, J.G., Wang, Y.J.: Weighted average consensus for directed networks of multi-agent. Microcomput. Inf. 23(7), 239–241 (2007)

    Google Scholar 

  18. Yu, H., Jian, J.G.: Weighted average-consensus for directed networks of multi-agent with switching topology. In: 27th Chinese Control Conference, Kunming, China, pp. 526–530 (2008)

    Google Scholar 

  19. Zhu, J.D.: Maximum consensus speed of second-order multi-agent network systems under a kind of dynamic consensus protocols. In: Proceedings of the 29th Chinese Control Conference, Beijing, China, pp. 796–800 (2010)

    Google Scholar 

  20. Venkategowda, N.K.D., Werner, S.: Privacy-preserving distributed maximum consensus. IEEE Signal Process. Lett. 27, 1839–1843 (2020)

    Article  Google Scholar 

  21. Wang, X., He, J., Cheng, P., Chen, J.: Differentially private maximum consensus: design, analysis and impossibility result. IEEE Trans. Netw. Sci. Eng. 6(4), 928–939 (2019)

    Article  MathSciNet  Google Scholar 

  22. Liu, W., Deng, F., Liang, J., Yan, X.: Weighted average consensus problem in networks of agents with diverse time-delays. Syst. Eng. Electron. Technol. 25(6), 1056–1064 (2014)

    Article  Google Scholar 

  23. Liu, J., An, B., Wu, H.: Consensus of third-order multi-agent systems with communication delay. In: 2018 Chinese Control and Decision Conference (CCDC), Shenyang, China, pp. 1428–1432 (2018)

    Google Scholar 

  24. Liu, C.L., Tian, Y.P.: Consensus of multi-agent system with diverse communication delays. In: 2007 Chinese Control Conference, Zhangjiajie, China, pp. 726–730 (2007)

    Google Scholar 

  25. Park, M., Kwon, O., Park, J., Lee, S., Kim, K.: Randomly occurring leader-following consensus criterion for multi-agent systems with communication delay. In: 12th International Conference on Control, Automation and Systems, Jeju, South Korea, pp. 883–886 (2012)

    Google Scholar 

  26. Wu, H., An, B., Song, Y.: Consensus of third-order multi-agent systems with fixed topology and input delay. In: 2018 Chinese Control and Decision Conference (CCDC), Shenyang, China, pp. 3879–3883 (2018)

    Google Scholar 

  27. Liu, C., Liu, F.: Consensus of multi-agent systems with sampled information and input delay. In: Third International Symposium on Intelligent Information Technology Application, Nanchang, China, pp. 453–457 (2009)

    Google Scholar 

  28. Mehra, S., Sahoo, S.R.: Trajectory tracking with input delay in multi-agent system: double integrator case. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), Arlington, VA, USA, pp. 387–393 (2016)

    Google Scholar 

  29. Olfati-Saber, R., Murray, R.M.: Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans. Autom. Control 49(9), 1520–1533 (2004)

    Article  MathSciNet  Google Scholar 

  30. Boyd, B., Ghaoui, L.E., Feron, E., Balakrishnan, V.: Linear Matrix Inequalities in System and Control Theory. SIAM, Philadelphia (1994)

    Book  Google Scholar 

  31. Yuan, G.S., Long, W., Xie, G.: Average consensus in networks of dynamic agents with switching topologies and multiple time-varying delays. Syst. Control Lett. 57(2), 175–183 (2008)

    Article  MathSciNet  Google Scholar 

  32. Godsil, C., Royle, G.: Algebraic Graph Theory. Springer, New York (2001). https://doi.org/10.1007/978-1-4613-0163-9

    Book  MATH  Google Scholar 

  33. Hale, J.K., Verduyn Lunel, S.M.: Introduction to Function Differential Equations. Springer, New York (1993). https://doi.org/10.1007/978-1-4612-4342-7

    Book  MATH  Google Scholar 

Download references

Acknowledgements

This work was fund by the Science and Technology Development Fund, Macau SAR (File no. 0050/2020/A1).

Author information

Authors and Affiliations

  1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Jiangsu, 211100, China

    Xiang Li & Jing Zhu

  2. Institute of Systems Engineering, Macau University of Science and Technology, Macau, China

    Jing Zhu

Authors
  1. Xiang Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jing Zhu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jing Zhu .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Shenzhen, China

    Haijun Zhang

  2. Nanfang College of Sun Yat-sen University, Guangzhou, China

    Zhi Yang

  3. Hefei University of Technology, Hefei, China

    Zhao Zhang

  4. Chongqing University, Chongqing, China

    Zhou Wu

  5. South China Normal University, Guangzhou, China

    Tianyong Hao

Rights and permissions

Reprints and permissions

Copyright information

© 2021 Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Li, X., Zhu, J. (2021). Weighted Average Consensus in Directed Networks of Multi-agents with Time-Varying Delay. In: Zhang, H., Yang, Z., Zhang, Z., Wu, Z., Hao, T. (eds) Neural Computing for Advanced Applications. NCAA 2021. Communications in Computer and Information Science, vol 1449. Springer, Singapore. https://doi.org/10.1007/978-981-16-5188-5_6

Download citation

  • DOI: https://doi.org/10.1007/978-981-16-5188-5_6

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-16-5187-8

  • Online ISBN: 978-981-16-5188-5

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics