异步通信
稳健性(进化)
计算机科学
有向图
多智能体系统
有界函数
拓扑(电路)
共识
控制理论(社会学)
分布式计算
网络拓扑
数学
计算机网络
人工智能
生物化学
基因
组合数学
数学分析
化学
控制(管理)
作者
Yao Zou,Hongji Liu,Wei Wang,Sujie Zhang,Yongmei Wu,Danyong Li,Zongyu Zuo
标识
DOI:10.1016/j.ins.2023.119483
摘要
This paper investigates the combined effect of input saturations and communication delays on the multi-agent consensus over a switching topology of weak connectivity. The input saturations are in a general form such that the saturation level of each agent is asymmetric and those of distinct agents are heterogeneous. Besides, the communication delays are time-varying and those in different channels are asynchronous. Both continuous- and discrete-time multi-agent systems are studied. For both the multi-agent systems over a switching digraph of uniform joint strong connectivity, it is demonstrated that the conventional distributed protocols, despite the simultaneous existence of the input saturations and communication delays, still guarantee the consensus results. It turns out that the consensus results are of great robustness against arbitrary heterogeneous asymmetric input saturations and arbitrary bounded communication delays. Simulations are carried out to verify this finding.
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