1,978 research outputs found
Second-Order Consensus of Networked Mechanical Systems With Communication Delays
In this paper, we consider the second-order consensus problem for networked
mechanical systems subjected to nonuniform communication delays, and the
mechanical systems are assumed to interact on a general directed topology. We
propose an adaptive controller plus a distributed velocity observer to realize
the objective of second-order consensus. It is shown that both the positions
and velocities of the mechanical agents synchronize, and furthermore, the
velocities of the mechanical agents converge to the scaled weighted average
value of their initial ones. We further demonstrate that the proposed
second-order consensus scheme can be used to solve the leader-follower
synchronization problem with a constant-velocity leader and under constant
communication delays. Simulation results are provided to illustrate the
performance of the proposed adaptive controllers.Comment: 16 pages, 5 figures, submitted to IEEE Transactions on Automatic
Contro
The Most Exigent Eigenvalue: Guaranteeing Consensus under an Unknown Communication Topology and Time Delays
This document aims to answer the question of what is the minimum delay value
that guarantees convergence to consensus for a group of second order agents
operating under different protocols, provided that the communication topology
is connected but unknown. That is, for all the possible communication
topologies, which value of the delay guarantees stability? To answer this
question we revisit the concept of most exigent eigenvalue, applying it to two
different consensus protocols for agents driven by second order dynamics. We
show how the delay margin depends on the structure of the consensus protocol
and the communication topology, and arrive to a boundary that guarantees
consensus for any connected communication topology. The switching topologies
case is also studied. It is shown that for one protocol the stability of the
individual topologies is sufficient to guarantee consensus in the switching
case, whereas for the other one it is not
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