Consensus seeking in multi-agent systems via hybrid protocols with impulse delays |
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| Institution: | 1. Key Laboratory of Electronic Equipment Structure Design of Ministry of Education, School of Mechano-Electronic Engineering, Xidian University, Xi’an 710071, China;2. Center for Complex Systems, School of Mechano-Electronic Engineering, Xidian University, Xi’an 710071, China;1. School of Mathematics and Statistics, Shandong Normal University, Jinan 250014, PR China;2. Center for Control and Engineering Computation, Shandong Normal University, Jinan 250014, PR China;3. School of Mathematics and Computer Science, Yunnan Minzu University, Kunming 650500, PR China;4. Department of Applied Mathematics, University of Waterloo, Waterloo, ON N2L 3G1, Canada;5. School of Electrical Engineering, Computing and Mathematical Sciences, Curtin University, Perth, WA 6845, Australia;1. School of Electrical Engineering, Guangxi University, Nanning, Guangxi 530004, PR China;2. College of Mathematics and Information Science, Guangxi University, Nanning, Guangxi 530004, PR China |
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| Abstract: | This paper studies the consensus problem of multi-agent systems with both fixed and switching topologies. A hybrid consensus protocol is proposed to take into consideration of continuous-time communications among agents and delayed instant information exchanges on a sequence of discrete times. Based on the proposed algorithms, the multi-agent systems with the hybrid consensus protocols are described in the form of impulsive systems or impulsive switching systems. By employing results from matrix theory and algebraic graph theory, some sufficient conditions for the consensus of multi-agent systems with fixed and switching topologies are established, respectively. Our results show that, for small impulse delays, the hybrid consensus protocols can solve the consensus problem if the union of continuous-time and impulsive-time interaction digraphs contains a spanning tree frequently enough. Simulations are provided to demonstrate the effectiveness of the proposed consensus protocols. |
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| Keywords: | Multi-agent system Graph theory Consensus problem Impulsive protocol Delayed impulse |
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