Control of the Consensus of Second-Order Multi-Agent Systems with Time Delay Based on Distributed PI

WANG Qi; GUO Fei; ZHANG An-tong; GUO Yu; QIANG Yi-ming

doi:10.11993/j.issn.2096-3920.202109002

Volume 30 Issue 4

Sep 2022

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Article Navigation > Journal of Unmanned Undersea Systems > 2022 > 30(4): 457-464

WANG Qi, GUO Fei, ZHANG An-tong, GUO Yu, QIANG Yi-ming. Control of the Consensus of Second-Order Multi-Agent Systems with Time Delay Based on Distributed PI[J]. Journal of Unmanned Undersea Systems, 2022, 30(4): 457-464. doi: 10.11993/j.issn.2096-3920.202109002

Citation:

WANG Qi, GUO Fei, ZHANG An-tong, GUO Yu, QIANG Yi-ming. Control of the Consensus of Second-Order Multi-Agent Systems with Time Delay Based on Distributed PI[J]. Journal of Unmanned Undersea Systems, 2022, 30(4): 457-464. doi: 10.11993/j.issn.2096-3920.202109002

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Control of the Consensus of Second-Order Multi-Agent Systems with Time Delay Based on Distributed PI

doi: 10.11993/j.issn.2096-3920.202109002

WANG Qi^{1, 2
,},
GUO Fei³,
ZHANG An-tong^{1, 2},
GUO Yu^{1, 2},
QIANG Yi-ming^{1, 2}

1.
China Ship Scientific Research Center, Wuxi 214082, China
2.
Taihu Laboratory of Deepsea Technological Science, Wuxi 214082, China
3.
Shanghai Electro-Mechanical Engineering Institute, Shanghai 201109, China

Received Date: 2021-09-03
Accepted Date: 2022-07-25
Rev Recd Date: 2021-11-07

Available Online: 2022-09-06

Abstract

Abstract

In recent years, multi-agent systems have developed rapidly owing to their wide application in many fields. The consensus problem is a popular research topic. However, the existence of communication delays and external disturbances can affect the consensus of multiagent systems. Therefore, this study focused on the problem of the consensus of second-order multi-agent systems with disturbances. The influences of constant and time-varying communication delays are also considered. A control protocol based on a distributed proportional integral(PI) is provided. The protocol assumes that the topology of the multiagent system is directed and contains a directed spanning tree. First, the consensus problem of the original system is transformed into a problem concerning the stability of the reduced-order system by state transformation. Then, the sufficient condition is derived using Lyapunov stability theory, graph theory, and matrix theory. Finally, a specific numerical simulation example is provided to verify that the proposed PI control protocol can effectively achieve the consensus of a second-order multiagent system with disturbance.
- multi-agent systems,
- distributed control,
- time delay,
- consensus

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References(26)

References

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