Consensus of Multiple High-Order Integrator Agents With Time-Varying Connectivity and Delays: Protocols Using Only Relative States
研究了多高阶积分器智能体在时变连接和延迟的网络中达成一致性的策略，提出了两种仅使用相对状态和多项式参数化权重的新协议，并通过数值模拟和实验验证了有效性。
The study considers the strategies for multiple high-order integrator agents to reach an agreement using local measurements and local communications over networks with time-varying connectivity and delays. Two new consensus protocols are presented using only relative states and parameterized weights in polynomial form, one for networks where the connectivity is time varying, the other for networks where connectivity and delays are both time varying. Analysis shows the ensuring of consensus as well as the weights’ existence for both protocols, provided that the network connectivity is jointly and periodically kept as scrambling or with directed spanning tree. A new analysis method, termed as block seminorm is employed in the consensus analysis, and shows less conservative in parameter validation. Finally, both numeric simulations and experiments show the proposed consensus schemes’ effectiveness.