Chin. Phys. B ›› 2013, Vol. 22 ›› Issue (4): 40203-040203.doi: 10.1088/1674-1056/22/4/040203
纪良浩a b, 廖晓峰a
Ji Liang-Hao (纪良浩)a b, Liao Xiao-Feng (廖晓峰)a
摘要: Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases: 1) continuous, 2) discrete, and 3) a continuous system with a proportional plus derivative controller. In each case, the system contains communication and input time delays simultaneously. Supposing a dynamic multi-agent system with directed topology that contains a globally reachable node, the sufficient convergence condition of the system is discussed with respect to each of the three cases based on the generalized Nyquist criterion and the frequency-domain analysis approach, yielding conclusions that are either less conservative than or in agreement with previously published results. And we know that the convergence condition of the system depends mainly on each agent's input time delay and the adjacent weights but is independent of the communication delay between agents, whether the system is continuous or discrete. Finally, simulation examples are given to verify the theoretical analysis.
中图分类号: (Delay and functional equations)