A sufficient condition for convergence of sampled-data consensus for double-integrator dynamics with nonuniform and time-varying communication delays

Jiahu Qin; Huijun Gao

doi:10.1109/TAC.2012.2188425

A sufficient condition for convergence of sampled-data consensus for double-integrator dynamics with nonuniform and time-varying communication delays

Jiahu Qin^*, Huijun Gao

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

179 Citations (Scopus)

Abstract

This technical note investigates a discrete-time second-order consensus algorithm for networks of agents with nonuniform and time-varying communication delays under dynamically changing communication topologies in a sampled-data setting. Some new proof techniques are proposed to perform the convergence analysis. It is finally shown that under certain assumptions upon the velocity damping gain and the sampling period, consensus is achieved for arbitrary bounded time-varying communication delays if the union of the associated digraphs of the interaction matrices in the presence of delays has a directed spanning tree frequently enough.

Original language	English
Article number	6155076
Pages (from-to)	2417-2422
Number of pages	6
Journal	IEEE Transactions on Automatic Control
Volume	57
Issue number	9
DOIs	https://doi.org/10.1109/TAC.2012.2188425
Publication status	Published - 2012

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10.1109/TAC.2012.2188425

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abstract = "This technical note investigates a discrete-time second-order consensus algorithm for networks of agents with nonuniform and time-varying communication delays under dynamically changing communication topologies in a sampled-data setting. Some new proof techniques are proposed to perform the convergence analysis. It is finally shown that under certain assumptions upon the velocity damping gain and the sampling period, consensus is achieved for arbitrary bounded time-varying communication delays if the union of the associated digraphs of the interaction matrices in the presence of delays has a directed spanning tree frequently enough.",

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KW - sampled-data consensus

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KW - time-varying communication delays

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A sufficient condition for convergence of sampled-data consensus for double-integrator dynamics with nonuniform and time-varying communication delays

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