Leader-following synchronization of a multi-agent system with heterogeneous delays

Branislav REHÁK; Volodymyr LYNNYK

doi:10.1631/FITEE.2000207

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Leader-following synchronization of a multi-agent system with heterogeneous delays

Special Issue on Distributed Filtering and Control of Complex Networks and Systems | Updated：2022-05-19

- Leader-following synchronization of a multi-agent system with heterogeneous delays
- 具有异构时延的多智能体系统的领导-跟随同步
- Frontiers of Information Technology & Electronic Engineering Vol. 22, Issue 1, Pages: 97-106(2021)
- Affiliations：
  
  The Czech Academy of Sciences, Institute of Information Theory and Automation, Praha 18200, Czech Republic
- Author bio：
  
  REHÁK Branislav,E-mail: rehakb@utia.cas.cz
  [ "LYNNYK Volodymyr, E-mail: volodymyr.lynnyk@utia.cas.cz" ]
- Funds：
- DOI：10.1631/FITEE.2000207
  CLC： TP13
- Received：30 April 2020，
  
  Revised：2020-;9-28，
  
  Published：2021-01
- Accepted：
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Branislav REHÁK, Volodymyr LYNNYK. Leader-following synchronization of a multi-agent system with heterogeneous delays[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(1): 97-106.
DOI：

Branislav REHÁK, Volodymyr LYNNYK. Leader-following synchronization of a multi-agent system with heterogeneous delays[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(1): 97-106. DOI： 10.1631/FITEE.2000207.

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。

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.

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references

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