Geodesic
On robust consensus of multi-agent systems with communication delays
Kybernetika, Tome 45 (2009) no. 5, pp. 768-784.

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In this paper, two robust consensus problems are considered for a multi-agent system with various disturbances. To achieve the robust consensus, two distributed control schemes for each agent, described by a second-order differential equation, are proposed. With the help of graph theory, the robust consensus stability of the multi-agent system with communication delays is obtained for both fixed and switching interconnection topologies. The results show the leaderless consensus can be achieved with some disturbances or time delays.
Classification : 05C50, 34K20, 91B14, 93A14, 93C10
Keywords: multi-agent consensus; robust consensus; disturbances; neighbor-based rules; time delays 
@article{KYB_2009__45_5_a5,
     author = {Hu, Jiangping},
     title = {On robust consensus of multi-agent systems with communication delays},
     journal = {Kybernetika},
     pages = {768--784},
     publisher = {mathdoc},
     volume = {45},
     number = {5},
     year = {2009},
     mrnumber = {2599111},
     zbl = {1190.93003},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/KYB_2009__45_5_a5/}
}
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Hu, Jiangping. On robust consensus of multi-agent systems with communication delays. Kybernetika, Tome 45 (2009) no. 5, pp. 768-784. http://geodesic.mathdoc.fr/item/KYB_2009__45_5_a5/