Asynchronous Consensus in Continuous-Time Multi-Agent Systems With Switching Topology and Time-Varying Delays

The paper studies asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented based on the state information of each agent's neighbors at some discrete times. The asynchrony means that each agent's update times, at which the agent adjusts its dynamics, are independent of others'. Furthermore, it is assumed that the communication topology among agents is time-dependent and the information transmission is with bounded time-varying delays. If the union of the communication topology across any time interval with some given length contains a spanning tree, the consensus problem is shown to be solvable. The analysis tool developed in this paper is based on nonnegative matrix theory and graph theory. The main contribution of this paper is to provide a valid distributed consensus algorithm that overcomes the difficulties caused by unreliable communication channels, such as intermittent information transmission, switching communication topology, and time-varying communication delays, and therefore has its obvious practical applications. Simulation examples are provided to demonstrate the effectiveness of the theoretical results.

• Publication year

  2006

• Venue

  IEEE Transactions on Automatic Control

• Publication date

  2006-11-30

• Fields of study

  Mathematics, Computer Science, Engineering

• Identifiers
  DOI 10.1109/TAC.2008.929381arXiv math/0611932
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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