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Frontiers of Information Technology & Electronic Engineering
ISSN 2095-9184 (print), ISSN 2095-9230 (online)
2021 Vol.22 No.1 P.97-106
Leader-following synchronization of a multi-agent system with heterogeneous delays
Abstract: An algorithm is presented for leader-following synchronization of a multi-agent system composed of linear agents with time delay. The presence of different delays in various agents can cause a synchronization error that does not converge to zero. However, the norm of this error can be bounded and this boundary is presented. The proof of the main results is formulated by means of linear matrix inequalities, and the size of this problem is independent of the number of agents. Results are illustrated through examples, highlighting the fact that the steady error is caused by heterogeneous delays and demonstrating the capability of the proposed algorithm to achieve synchronization up to a certain error.
Key words: Multi-agent system, Time delay, Linear matrix inequality
Branislav REHáK，Volodymyr LYNNYK
捷克科学院信息理论与自动化所，捷克共和国布拉格，18200
摘要：提出一种由时滞线性智能体组成的多智能体系统的领导-跟随同步算法。各智能体中存在的不同时滞会导致不收敛于零的同步误差。但是，可限制误差范数并给出误差边界。利用线性矩阵不等式对主要结果进行验证，且该问题的规模与智能体数量无关。通过案例对结果进行说明，强调稳定误差是由异构延迟引起的事实，并验证该算法在一定误差范围内有实现同步的能力。
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DOI:
10.1631/FITEE.2000207
CLC number:
TP13
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On-line Access:
2021-01-11
Received:
2020-04-30
Revision Accepted:
2020-08-24
Crosschecked:
2020-09-28