A Consensus Algorithm with Buffer in Second-Order Multi-Agent with Time-Varying Delayed Communication

Abstract:

In this paper, we discuss consensus problems for a network of dynamic agents with fixed topologies. A consensus algorithm for multi-agent systems with time-varying delay is presented. With the consideration of the effects of network conditions, such as network-induced delays, packet dropouts, mis-sequence, etc., a communication buffer is introduced for avoiding agents’ communication error, and a method for choosing buffer length is proposed. Using this buffer design, received data is rearranged and transferred in the original order. With the presented consensus algorithm, agents’ consensus is well-performance, and all the agents match the average speed finally. Simulation oriented results verify the effectiveness of the proposed algorithm.

• Periodical: Advanced Materials Research (Volume 1039)
• Pages: 305-312
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1039.305
• Online since: October 2014
• Authors: Yang Li, Jin Yuan*
• Keywords: Consensus, Multi-Agent System (MAS), Time-Varying Delay

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