Comparison of consensus in different multi-agent networks with diverse time-delays

Yingfan Gao

doi:10.1117/12.2625556

12 December 2021 Comparison of consensus in different multi-agent networks with diverse time-delays

Yingfan Gao

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121272O (2021) https://doi.org/10.1117/12.2625556
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

This paper presents the consensus control with diverse time-delays on multi-agent systems. Depending on the comparison among the performances (the speed of convergence, robustness, and synchronization) of different graphs on the consensus problem without the mathematical analysis of algebraic connectivity, the current study aims to emphasize the importance of the structure of networks, comprising nodes and edges, in control engineering. This research is based on three typical complex networks (Balanced digraph, Regular Lattice-Type Nearest-Neighbor Graph, and Small-World Network) whose initial state, number of nodes (N_V = 10), and edges (N_E = 20) are consistent. The most significant difference among networks is the degree of graphs. The simulation results of the consensus control with different time-delays on these graphs with single integrator dynamics agents are collected to find the relationship between the degree of network and time-delays. The communication time delays are chosen from τ = [0,0.1,0.2,0.23,0.3,0.4]. Finally, it is found that graphs with bigger degree have better robustness to time-delays. And there is a general trade-off between convergence speed and robustness to time-delay, though slight time-delay may benefit the consensus. What’s more, it is proved in this study that the degree of graphs is not sufficient to determine the accurate maximum of time-delays.

Citation Download Citation

Yingfan Gao "Comparison of consensus in different multi-agent networks with diverse time-delays", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121272O (12 December 2021); https://doi.org/10.1117/12.2625556

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available