Robust consensus of multi-agent systems with diverse input delays and asymmetric interconnection perturbations.

*(English)*Zbl 1162.93027Summary: The consensus problem of second-order multi-agent systems with diverse input delays is investigated. Based on the frequency-domain analysis, decentralized consensus conditions are obtained for the multi-agent system with symmetric coupling weights. Then, the robustness of the symmetric system with asymmetric perturbation is studied. A bound of the largest singular value of the perturbation matrix is obtained as the robust consensus condition. Simulation examples illustrate the design procedure of consensus protocols and validate the correctness of the results.

##### MSC:

93C80 | Frequency-response methods in control theory |

93A14 | Decentralized systems |

93C73 | Perturbations in control/observation systems |

93B60 | Eigenvalue problems |

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\textit{Y.-P. Tian} and \textit{C.-L. Liu}, Automatica 45, No. 5, 1347--1353 (2009; Zbl 1162.93027)

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