Consensus of Second-order Discrete Multi-agent System with Communication Delay and Switching Topology

Abstract

This paper studies the conditions of consensus of a multi-agent system under distributed network when communication delay and switching topology existing.The delay we considered in this paper is caused by the distributed network protocol instead of the process of transmission.The switching of topology is caused by the instability of the network.We first construct relevant system model where communication delay and switching topology both exist.And then we obtain the sufficient conditions to guarantee that a set of agents reach consensus on their states, including positions and velocities.Finally, numerical simulations are provided to illustrate the availability of our results.The main contribution of our research is that we consider the delay under distributed network protocol, which makes the results more practical and can be used as a guide in both the design of controller and the optimizing of the network protocol for consensus of the system under distributed network.