Consensus of a class of discrete-time nonlinear multi-agent systems in the presence of communication delays.
In this paper, we study the consensus problem for a class of discrete-time nonlinear multi-agent systems. The dynamics of each agent is input affine and the agents are connected through a connected undirected communication network. Distributed control laws are proposed and consensus analysis is conducted both in the absence and in the presence of communication delays. Both theoretical analysis and numerical simulation show that our control laws ensure state consensus of the multi-agent system.
Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, P.O. Box 400743, Charlottesville, VA 22904-4743, USA. Electronic address: hh7da@virginia.edu.
Haiyun
H
Hu
Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, P.O. Box 400743, Charlottesville, VA 22904-4743, USA. Electronic address: zl5y@virginia.edu.
Zongli
Z
Lin
Consensus; Discrete-time; Multi-agent systems; Nonlinear systems; Time-delay