2015•World Academy of Science, Engineering and Technology, International Journal of Mechanical and Mechatronics EngineeringRequires access

Consensus Problem of High-Order Multi-Agent Systems under Predictor-Based Algorithm

Cheng‐Lin Liu, Fei Liu

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Abstract

For the multi-agent systems with agent's dynamics described by high-order integrator, and usual consensus algorithm composed of the states' coordination control parts is proposed. Under communication delay, consensus algorithm in asynchronously-coupled form just can make the agents achieve a stationary consensus, and sufficient consensus condition is obtained based on frequency-domain analysis. To regain the original consensus state of high-order multi-agent systems without communication delay, besides, a predictor-based consensus algorithm is constructed via multiplying the delayed neighboring agents' states by a delay-related compensation part, and sufficient consensus condition is also obtained. Simulation illustrates the correctness of the results.

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Key concepts: Correctness, Consensus, Consensus algorithm, Multi-agent system, Computer science, Order (exchange), Control theory (sociology), Compensation (psychology)