ABSTRACT This paper is devoted to the study of the coordinate stability in undirected networks of dynamical agents with time-varying transmission delay. Neighbor-based rules are adopted to realize local control strategies for these continuous-time autonomous agents. Sufficient and necessary conditions in terms of linear matrix inequalities (LMIs) are given to guarantee the coordination of dynamical agents. Numerical simulations are given and demonstrate that our theoretical results are effective.
Cite this paper
nullH. Yu, B. Zhang and Y. Zheng, "Coordination for Networks of Dynamic Agents with Time-Varying Delays," Wireless Sensor Network, Vol. 2 No. 2, 2010, pp. 141-147. doi: 10.4236/wsn.2010.22019.
 A. Jadbabaie, J. Lin, and S. A. Morse, “Coordination of groups of mobile autonomous agents using nearest neighbor rules,” IEEE Transactions on Automatic Control, Vol. 48, No. 6, pp. 988–1000, June 2003.
W. Ren and R. W. Beard, “Consensus seeking in multiagent systems under dynamically changing interaction topologies,” IEEE Transactions on Automatic Control, Vol. 50, No. 5, pp. 655–661, May 2005.
R. O. Saber and R. M. Murray, “Consensus problems in networks of agents with switching topology and time- delays,” IEEE Transactions on Automatic Control, Vol. 49, No. 9, pp. 1520–1533, September 2004.
R. O. Saber, J. A. Fax, and R. M. Murray, “Consensus and cooperation in networked multiagent systems,” Proceedings of the IEEE, Vol. 95, No. 1, pp. 215–240, January 2007.
L. Moreau, “Stability of multiagent systems with time- dependent communication,” IEEE Transactions on Automatic Control, Vol. 50, No. 2, pp. 169–182, February 2005.
D. Lee and W. M. Spong, “Agreement with non-uniform information delays,” Proceedings of the 2006 American Control Conference, pp. 756–761, 2006.
P. Lin and Y. Jia, “Average consensus in networks of multi-agents with both switching topology and coupling time-delay,” Physica A, Vol. 387, pp. 303–313, 2008.
Y. Sun, L. Wang, and G. Xie, “Average consensus in directed networks of dynamic agents with time-varying communication delays,” Proceedings of the 45th IEEE Conference on Decision and Control, pp. 3393–3398, 2006.
J. Hu and Y. Hong, “Leader-following coordination of multi-agent systems with coupling time delays,” Physica A, Vol. 374, pp. 853–863, 2007.
J. A. Fax and R. M. Murray, “Information flow and cooperative control of vehicle formations,” IEEE Transactions on Automatic Control, Vol. 49, No. 9, pp. 1465– 1476, 2004.
G. Xie and L. Wang, “Information flow and cooperative control of vehicle formations,” International Journal of Robust and Nonlinear Control, Vol. 17, pp. 941–959, 2007.
L. Moreau, “Stability of continuous-time distributed consensus algorithms,” In Proceedings of the 43rd IEEE Conference on Decision and Control, Atlantis, Paradise Island, Bahamas, pp. 3998–4003, 2004.
Dongjun Lee and Mark W. Spong, “Agreement with non-uniform information delays”, In Proceedings of the 2006 American Control Conference, Minnesota, USA, June 14–16, 2006.
M. Cao, A. S. Morse, and B. D. O. Anderson, “Reaching a consensus using delayed information”, In Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, pp. 3375–3380, 2006.
N. Biggs, “Algebraic, graph theory,” Cambridge: Cambridge University Press, 1994.
H. Yu, Y. Zheng, “Global behavior of dynamical agents in directed network,” Proceedings of the 26th Chinese Control Conference, pp. 557–561, 2007.
A. Isidori, “Nonlinear control systems II,” London: Communications and Control Engineering Series, Springer-Verlag, 1999.
R. A. Horn and C. R. Johnson, “Matrix analysis,” Cambridge: Cambridge University Press, 1987.