Abstract
This paper investigates the consensus problem for multiagent systems with nonlinear dynamics and time delays. A distributed adaptive consensus protocol is proposed in which the time delays are explicitly included in the adaptive algorithm. It is shown that the resultant closed loop system involves doubly larger time delays, making the stability analysis nontrivial. Stability condition on maximum tolerable time delay is established and controlled by the proposed two-hop adaptive algorithm. The explicit expression of the delay margin is derived and analyzed in the frequency domain. Both the agent state errors and the estimation parameter errors converge to zero. A simulation example is illustrated to verify the theory results. © 2014 Qian Cao et al.
| Original language | English |
|---|---|
| Article number | 792360 |
| Journal | Abstract and Applied Analysis |
| Volume | 2014 |
| Early online date | 21 May 2014 |
| DOIs | |
| Publication status | Published - 2014 |
| Externally published | Yes |
Funding
This work is supported by the National Basic Research Program of China (973 Program no. 2012CB215200), the National Natural Science Foundation of China (no. 51205046), and Fundamental Research Funds for the Central Universities (no. ZYGX2012J093).