Eigenvalue Based Method to Maximize the Exponential Convergence Rate for Consensus Tracking with Heterogeneous Delays. Issue 36 (2022)

• Record Type: Journal Article
• Authors: De, Souradip; Sahoo, Soumya Ranjan; Wahi, Pankaj
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 36(2022)
• Page Start: 127
• Page End: 132
• Publication Date: 2022
• Subjects: Trajectory Tracking -- Delay -- Root Tendency -- Multi-Agent System; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.11.345
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper focuses on the consensus tracking problem for a group of single-integrator agents with heterogeneous communication and input delays, with the goal of achieving the maximum exponential convergence rate. Existing research discusses a tracking protocol consisting of a consensus-based estimator and a tracking controller for each agent, as well as stability analysis. In contrast, we examine the performance evolution of multi-agent systems for such tracking protocols in terms of their exponential convergence rate. We present a systematic frequency domain method for analyzing the rightmost eigenvalue in the open left half complex plane, which determines the exponential decay rate of the tracking error. The spectral characteristics of the linear time-invariant retarded delay system are investigated, leading to the optimization of the tracking controller and estimator gains. Simulations are given to demonstrate how the system performs when the design parameters are optimized.