Journal
EUROPEAN JOURNAL OF CONTROL
Volume 16, Issue 2, Pages 188-199Publisher
ELSEVIER
DOI: 10.3166/EJC.16.188-199
Keywords
Second-Order; Leader-Following; Multi-Agent Systems; Consensus; Heterogeneous Input Delays; Directed Graph; Asymmetric Coupling Weights
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Funding
- National Natural Science Foundation of China [60774016, 60875039, 60904022]
- Science Foundation of Education Office of Shandong Province of China [J08LJ01]
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In this paper, a second-order consensus algorithm of multi-agent dynamical systems with leader-folio wing presented. With the hypothesis of a directed weighted connected graph composed of n agents together with a leader and the leader as a globally reachable node, the consensus algorithm with heterogeneous input delays is studied in the frequency domain. By applying Gershgorin disc theorem and curvature theory, decentralized consensus conditions for the multi-agent systems with asymmetric coupling weights are obtained. Finally, a simulation example is used to show the design of the parameters and the validity of the result.
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