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Second-order consensus for multi-agent systems with switching topology and communication delay. (English) Zbl 1225.93020
Summary: Two kinds of consensus problems for second-order agents under directed and arbitrarily switching topologies are investigated, that is, the cases without and with communication delay. For the former, by constructing a new kind of digraph and employing a new graphic method, we can specify the least convergence rate for all the agents to reach consensus. For the latter, in virtue of a matrix inequality method, a sufficient condition in the form of feasible matrix inequalities is presented for all the agents to reach consensus. This, on the other hand, shows that consensus can be reached if the delay is small enough. Finally, two numerical examples are given to demonstrate the effectiveness and advantages of the proposed results.

93A14 Decentralized systems
94C15 Applications of graph theory to circuits and networks
93C30 Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems)
Full Text: DOI
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