Consensus of Formation with a Virtual Leader and Time-Delays
Hongyong Yang · Fuza xitong yu fuzaxing kexue · 2012
The formation of second-order multi-agent systems with a virtual leader and time-delays is introduced for analysis of the consensus problem.The LMI(Linear Matrix Inequality)method and Lyapunov-Krasovskii function are used to analyze the impact caused by time-delays on consensus of formation with a virtual leader.Free weighting matrices method is employed to deal with the delayed system.Stability criterion and the upper bounds of time-delays are derived through theoretical deduction.Numerical examples and simulations are given to demonstrate the effectiveness of the proposed method.