《Consensus for High-Order Time-Delayed Swarm Systems 》.pdf

Proceedings of the 30th Chinese Control Conference July 22-24, 2011, Yantai, China Consensus for High-Order Time-Delayed Swarm Systems With Uncertainties and External Disturbances 1 1,2 1 1 DONG Xiwang , XI Jianxiang , SHI Zongying , ZHONG Yisheng 1. Dept. of Automation, Tsinghua University, Beijing 100084, P. R. China E-mail: dongxw09@mails.tsinghua.edu.cn; szy@mail.tsinghua.edu.cn; zys-dau@mail.tsinghua.edu.cn 2. High-Tech Institute of Xi’an, Xi’an 710025, P. R. China E-mail: xijx07@mails.tsinghua.edu.cn Abstract: Consensus problems of high-order linear time-invariant swarm systems with interaction uncertainties and time-varying external disturbances on directed graphs are dealt with. Using output information, a consensus protocol with nonuniform time- varying delays is presented based on the dynamic output feedback control theory. Consensus problems of a swarm system are converted into stability problems of a disagreement subsystem. By applying the Lyapunov-Krasovskii functional approach and the linear matrix inequality technique, sufficient conditions for the swarm systems to achieve practical consensus are proposed. Numerical simulations are presented to demonstrate theoretical results. Key Words: Consensus, Swarm system, External disturbance, Time-varying delay, Interaction uncertainty 1 Introduction [24] and Cai et al. [25]. As is well known, the interaction among agents may be time-varying. The switching interac- Cooper