Regulated State Synchronization of Homogeneous Discrete-Time Multi-Agent Systems via Partial State Coupling in Presence of Unknown Communication Delays

Abstract

This paper studies regulated state synchronization for homogeneous discrete-time multi-agent systems (MAS) in the presence of unknown nonuniform communication delays. We consider partial state coupling, i.e., agents are coupled through part of their states. A low gain-based protocol is designed which only requires rough knowledge of the communication network, such that the state synchronization for MAS is achieved where the required synchronized trajectory is only given to some of the agents. INDEX TERMS Regulated state synchronization, discrete-time multi-agent systems, communication delays.

Scale‐free collaborative protocols for global regulated state synchronization of discrete‐time homogeneous networks of non‐introspective agents in presence of input saturation

“…From (11), we have the matrix is a matrix with all elements nonnegative and the sum of each row is less than or equal to 1. Meanwhile, satisfies the following lemma which is a slight extension of Lemma 1 in Reference 34.…”

“…Then the scalable global regulated state synchronization problem as stated in Problem 1 is solvable. In particular, the dynamic protocol (34) with (22) solves the regulated state synchronization problem for any N and any graph  ∈ G N  .…”

“…State synchronization based on diffusive partial‐state coupling has also been considered, including static design, 13,14 dynamic design, 15‐18 and the design with additional communication 19,20 . Meanwhile, some works can also be found for MAS with discrete‐time agents, see References 8, 10, and 21‐24 for essentially single‐ and double‐integrator, and References 25‐34 for higher‐order agents.…”

Regulated State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Delays: A Scale-Free Protocol Design

“…Then the scalable regulated state synchronization problem as stated in Problem 1 is solvable if (18) holds. In particular, there exist a ρ * (ω max , κ) > 0.5 and for any fixed ρ > ρ * (ω max , κ), there exists a ε * (ρ) such that for any ε ∈ (0, ε * (ρ)], dynamic protocol given by ( 13) and ( 14 Then, similar to Theorem 1, we can obtain the result.…”

Scale-Free Collaborative Protocol Design for Output Synchronization of Heterogeneous Multi-Agent Systems With Nonuniform Communication Delays

“…Some research work has been done for both constant and time-varying input delay, specifically with the objective of deriving an upper bound on the input delays such that agents can still achieve synchronization; see, for example [17]- [24]. In the case of communication delay, some research work has been done; see [20], [25]- [32]. Time-varying communication delays for a general multi-agent system have been considered in [33].…”