Title

Preserving Stability Under Communication Delays In Multi Agent Systems

Abstract

The effect of time delays on the stability of a recently proposed continuum approach for controlling a multi agent system (MAS) evolving in n-D under a special local inter-agent communication protocol is considered. There a homogenous map determined by n+1 leaders is learned by the follower agents each communicating with n+1 adjacent agents. In this work both position and velocity information of adjacent agents are used for local control of follower agents whereas in previous work [1, 2] only position information of adjacent agents was used. Stability of the proposed method under a time delay h is studied using the cluster treatment of characteristic roots (CTCR) [3]. It is shown that the stability of MAS evolution can be preserved when (i) the velocity of any follower agent is updated using both position and velocity of its adjacent agents at time (t-h); and (ii) the communication matrix has real eigenvalues. In addition, it is shown that when there is no communication delay, deviations from a selected homogenous map during transients may be minimized by updating only the position of a follower using both position and velocity of its adjacent agents. Copyright © 2013 by ASME.

Publication Date

1-1-2013

Publication Title

ASME 2013 Dynamic Systems and Control Conference, DSCC 2013

Volume

2

Number of Pages

-

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1115/DSCC2013-3812

Socpus ID

84902438586 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84902438586

This document is currently not available here.

Share

COinS