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consensus of a kind of dynamical agents in network with time delays共识的一种动态代理在网络时滞.pdf

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consensus of a kind of dynamical agents in network with time delays共识的一种动态代理在网络时滞

Int. J. Communications, Network and System Sciences, 2010, 3, 893-898 doi:10.4236/ijcns.2010.311121 Published Online November 2010 (http://www.SciRP.org/journal/ijcns) Consensus of a kind of Dynamical Agents in Network with Time Delays Hongwang Yu, Baoshan Zhang School of Mathematics and Statistic, Nanjing Audit University, Nanjing, China E-mail : yuhongwang@ Received August 4, 2010; revised September 18, 2010; accepted October 23, 2010 Abstract This paper investigates the collective behavior of a class of dynamic agents with time delay in transmission networks. It is assumed that the agents are Lyapunov stable distributed on a plane and their location coordi- nates are measured by some remote sensors with certain error and transmitted to their neighbors. The control protocol is designed on the transmitted information by a linear decentralized law. The coordination of dy- namical agents is shown under the condition that the error is small enough. Numerical simulations demon- strate that our theoretical results are valid. Keywords: Multi-Agent System, Time Delay, Consensus Protocol 1. Introduction In networks of the dynamic agents, time delays and sensor error may arise naturally, e.g., because of the Distributed coordination of network of dynamic agents moving of the agents, the congestion of the communica- has attracted a great attention in recent years. Modeling tion channels and the finite transmission speed due to the and exploring these coordinated dynamic agents have physical characteristics of th