Exact computation of maximal allowable delay for general second‐order multi‐agents consensus
Dan Ma, Jie Chen, Tianyou Chai · International Journal of Robust and Nonlinear Control · 2021
Abstract The delay consensus margin (DCM) defines the largest delay range within which a distributed feedback control protocol can achieve and maintain the consensus robustly against uncertain time delays. This article investigates the exact computation of the DCM for general second‐order multi‐agent systems (MASs) under distributed proportional‐derivative (PD) feedback, or alternatively known as position and velocity feedback protocols over undirected graphs. We consider MASs with uncertain constant delays, and derive the DCM expression for second‐order agents and show that it can be determined by solving a non‐smooth quasi‐concave optimization problem. The DCM as such, can be computed via convex optimization methods.