Distributed Coordination of Multi-agent Systems
Jianzhong Gu · Control Engineering of China · 2010
A leader-following consensus problem of a group of autonomous agents with time delays is studied,and a linear controller is proposed to guarantee that the states of all agents can track the leader's state.The stability analysis is performed based on a proposed Lyapunov function.And some new delay-dependent stability criteria is derived by using free weighting matrices which are selected by means of linear matrix inequalities,and the new criteria is less conservative than existing ones.Finally,simulation example is provided to show the effectiveness of the proposed control laws.