Generalized nyquist consensus condition for linear multi agent systems with heterogeneous delays

Conference item

We study robust consensus of linear Multi-Agent Systems (MAS) with heterogeneous delays. We provide a very accurate set-valued condition that guarantees consensus for arbitrary bounded delays and arbitrary connected topologies. This condition is proven using the generalized Nyquist criterion. From the set-valued condition, an explicit analytical formula is derived for single integrator MAS. In this publication, the delays affect both the agent's own state and its neighbor's state; and we assume that the delay of the agent's own state and its neighbor's state are different, e.g. due to a combination of computation delays, which affect both states, and transmission delays, which only affect the neighbor's state. © 2009 IFAC.

Authors: Münz, U; Papachristodoulou, A; Allgöwer, F

• Host title: IFAC Proceedings Volumes (IFAC-PapersOnline)
• Volume: 1
• Issue: PART 1
• Pages: 24-29
• Publication date: 2009-01-01
• DOI: 10.3182/20090924-3-IT-4005.0031
• ISSN: 1474-6670
• ISBN: 9783902661524
• Keywords: Delays; Generalized Nyquist criterion; Multi-agent systems