WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 8, 2013
Co-Ordinated Average Consensus of Multi-agent Systems via Sampled Control
Authors: ,
Abstract: This paper studies the co-ordinated average consensus of multi-agent system under Cartesian co-ordinate coupling in a discrete-time setting with switching sampling interval. Two cases are considered: 1) network without sampling delay; 2) network with sampling delay. For both cases, by algebraic graph theory and matrix theory, we analyze the convergence of the system and not only prove the existence of the sampling period, the Euler angle of the rotation matrix and sampling delay, but also give the approach of how to choose them. Our study shows that the eigenvalues of the corresponding Laplacian matrix, the size of the Euler angle, sampling period and delay have an important effect on consensus. Finally, some numerical simulations are presented to illustrate our theoretical results.
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Keywords: Multi-agent systems, Cartesian co-ordinated coupling, average consensus, sampled control, switching sampling interval