Analysis of average consensus of multi-agent systems with time delay using packet selection and synchronization protocol

Satoshi Kikuchi; Michihiro Kawanishi; Tran Huynh Ngoc; Binh Minh Nguyen; Tatsuo Narikiyo

doi:10.1016/j.isatra.2021.11.015

Analysis of average consensus of multi-agent systems with time delay using packet selection and synchronization protocol

ISA Trans. 2022 Sep;128(Pt B):217-229. doi: 10.1016/j.isatra.2021.11.015. Epub 2021 Nov 25.

Authors

Satoshi Kikuchi¹, Michihiro Kawanishi², Tran Huynh Ngoc², Binh Minh Nguyen², Tatsuo Narikiyo²

Affiliations

¹ R-Frontier Division, Frontier Research Center, TOYOTA MOTOR CORPORATION, Shizuoka, Japan; Department of Advanced Science and Technology, Toyota Technological Institute, Nagoya, Japan. Electronic address: satoshi_kikuchi@mail.toyota.co.jp.
² Department of Advanced Science and Technology, Toyota Technological Institute, Nagoya, Japan.

PMID: 34863471
DOI: 10.1016/j.isatra.2021.11.015

Abstract

A stabilization approach for the average consensus of homogeneous multi-agent systems (MASs) entailing non-uniform, asymmetric, and time-varying delays in communication networks is proposed. Agents are modeled using a continuous-time linear dynamical system with a local discrete-time controller. To address communication delays, we propose two logic functions, namely, a packet selection algorithm that constantly selects and updates the latest received control signal packets and a synchronization algorithm that asymmetrically synchronizes these packets to preserve the average value of state variables. Based on the Lyapunov theory, we establish a linear matrix inequality (LMI) condition that sufficiently guarantees the stability and consensus of the overall system. To establish this condition, only the time delay upper bound is required, without any special assumptions on the delay pattern. We thoroughly discuss the proposed algorithm and evaluate its effectiveness via numerical simulations.

Keywords: Average consensus; Linear matrix inequalities; Multi-agent system; Non-uniform and asymmetric communication delays; Packet selection; Synchronization; Time-varying.