Consensus of the General Second-Order MASs with Nonuniform Uncertain Time-Varying Communication Delays
- Resource Type
- Conference
- Authors
- Shi, Xiongtao; Li, Yanjie; Du, Chenglong
- Source
- 2023 China Automation Congress (CAC) Automation Congress (CAC), 2023 China. :8174-8179 Nov, 2023
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Sufficient conditions
Upper bound
Protocols
Directed graphs
Switches
Numerical simulation
Delays
General second-order multi-agent systems
nonuniform uncertain time-varying communication delays
Lyapunov-Krasovskii function
directed graph
- Language
- ISSN
- 2688-0938
This paper delves into the investigation of the consensus problem of general second-order multi-agent systems (MASs) with nonuniform uncertain time-varying communication delays. With the directed graph having a spanning tree, a distributed control protocol is proposed to achieve the consensus among all agents. By leveraging the Lyapunov-Krasovskii function and Jensen Inequality, the paper derives sufficient conditions for the consensus with communication delay. The algorithm also presents an upper bound for the admissible communication delay even in the presence of nonuniform uncertain and time-varying communication delays. The correctness is finally illustrated through numerical simulations.