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1、17thIEEEInternationalConferenceonControlApplicationsFrA04.5Partof2008IEEEMulti-conferenceonSystemsandControlSanAntonio,Texas,USA,September3-5,2008Observer-basedConsensusControlStrategyforMulti-AgentSystemwithCommunicationTimeDelayChikaYoshiokaandToruNamerikawaAbstract—Thispaperpro
2、posesanobserver-basedconsensusInthispaper,newconsensuscontrollawusingobserversiscontrolstrategyformulti-agentsystem(MAS)withcommuni-proposedforconstrainedcommunicationwherecommuni-cationtimedelay.TheconditionofstabilityforMIMOagentsiscationdelaysareoccurredininter-agentcommunicati
3、ons.derivedbyLyapunovtheorem.Itgivessystematicdesignpro-In[12],aLyapunov-likecriterionwasderivedforstabilitycedureunderassumedunidirectionalnetwork.Furthermore,newconsensuscontrollawusingobserversisproposedfortheconditoninMASwithconstantcommunicationdelay.ThenetworkedMASwithcommun
4、icationdelays.paper[7]considersparallelestimatorsforformationcontrolExperimentalresultsshoweffectivenessofourproposedofMASwheretheagentisspacecraft.Aspacecraftestimateoutputconsensusapproaches.statesofotherspacethatconnectednetwork.HenceorderofI.INTRODUCTIONtheestimatorunderassume
5、dlargenetworkislargerthanotherestimatorunderassumedsmallnetwork.Therefore,Therehavebeenrapidlyprogressesofnewtheoriesthattheproposedobserver-basedoutputcontrolstrategyismuchcreateafusionofgraphtheoryandsystemcontroltheoryforsimplerthanthemethosin[7].Finally,theexperimentalcooperat
6、ivecontrolproblemofdistributednetworkedcontrolresultsshoweffectivenessofourproposedcontrollaw.systems[1],[2].Asoneoftheseresearchworks,amulti-agentsystem(MAS)isoneofsignificanttopicswhicheachagentII.GRAPHTHEORYautonomouslyworksbyusinginformationofotheragentsGraphisusefultorepresent
7、networkstructures[14].Letoverthenetwork[3]-[12].G=(V,A)beagraphoforderNwiththesetofnodesLetconsideranagentasavehicleinMAS,thenitispossibletoapplyformationcontrolproblem[4]-[7].For-V={v1,···,vN}andsetofarcsA⊆V×V.Anarc(vi,vj)mationcontrolproblemsexpectatvariousfields,e.g.satel-ofGiss
8、hownbyanarrowdrawnfromnodevjtonod
