Consensusability of First-Order Multiagent Systems Under Distributed PID Controller With Time Delay
Qian Ma, Shengyuan Xu
Abstract
This article analyzes the consensus of first-order multiagent systems under the network topology with a directed spanning tree. A distributed PID controller with time delay is designed. D-parameterization approach is used and the crossing set consisting of frequencies such that at least one characteristic root is on the imaginary axis is identified. It is proven that the rightward crossings of the characteristic roots are always guaranteed. The exact delay margin is then determined. Numerical simulation is proposed to demonstrate the theoretical analysis.
Topics & Concepts
PID controllerControl theory (sociology)Multi-agent systemController (irrigation)Spanning treeComputer scienceSet (abstract data type)Margin (machine learning)Network topologyTopology (electrical circuits)Tree (set theory)Order (exchange)MathematicsControl (management)Control engineeringEngineeringDiscrete mathematicsArtificial intelligenceMathematical analysisCombinatoricsMachine learningTemperature controlOperating systemEconomicsProgramming languageBiologyFinanceAgronomyDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationAdaptive Control of Nonlinear Systems