Exponential Consensus with Decay Rate Estimation for Heterogeneous Multi-Agent Systems

Author(s)

dos Santos Junior, Carlos R. P. ^[1] ; Carvalho, Jose Reginaldo H. ^[1] ; Souza, Fernando O. ^[2] ; Savino, Heitor J. ^[3]

Affiliation

^[1] Univ Fed Amazonas, Comp Inst, Ave Rodrigo Otavio 6200, BR-69077000 Manaus, AM - Brazil

^[2] Univ Fed Minas Gerais, Dept Elect Engn, Ave Antonio Carlos 6627, BR-31270901 Belo Horizonte, MG - Brazil

^[3] Univ Fed Alagoas, Inst Comp, Ave Lourival de Melo Mota, BR-57072900 Maceio, AL - Brazil

• Document type: Journal article
• Source: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS; v. 95, n. 2, p. 543-553, AUG 2019.
• Web of Science Citations: 0

Abstract

This paper presents an analysis method, based on linear matrix inequalities, for consensus with estimated convergence rate, in the presence of input delays. It is assumed that the delays are nonuniform, time-varying, and possibly non-differentiable. The proposed approach consists in rewriting the multi-agent system as a reduced-order delayed linear system, such that consensus can be analyzed by means of Lyapunov-Krasovskii stability theory. Finally, the efficiency of the proposed method is verified by numerical simulations. (AU)

• FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
• Grantee: Marco Henrique Terra
• Support Opportunities: Research Projects - Thematic Grants