Scaled consensus seeking in multiple non-identical linear autonomous agents. (November 2017) - Liu, Cheng-Lin
Abstract: Scaled consensus problem is studied for a heterogeneous multi-agent system composed of non-identical stable linear agents, and a leader-following scaled consensus algorithm is designed. By using frequency-domain analysis, consensus conditions are obtained for the agents without communication delay under undirected and directed topologies, respectively. Moreover, consensus criteria are also gained for the agents suffering from communication delay under directed topology. Simulation examples show the correctness of theoretical results. Abstract : Highlights: Consider a heterogeneous multi-agent system. Each agent is a linear stable SISO system with different disturbance. An adaptive scaled consensus algorithm is designed. Scaled consensus conditions are obtained for undirected and directed topologies. Effect of communication delay is analyzed for agents with directed topology.