書誌事項
- タイトル別名
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- Average-consensus Problem of Multi-agent Systems with Non-uniform and Asymmetric Time-delays
- 非一様・非対称な時間遅れを持つマルチエージェントシステム平均合意問題
- ヒイチヨウ ヒタイショウ ナ ジカン オクレ オ モツ マルチエージェント システム ヘイキン ゴウイ モンダイ
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説明
This paper deals with consensus problems of networked multi-agent systems with non-uniform and asymmetric time-delays. It has been known that multi-agent systems without time-delays achieve average-consensus, which means that all the states of agents converge to the average of their initial states. However, our target systems do not necessarily achieve average-consensus because of the non-uniform and asymmetric time-delays on the networks. The goal of this paper is to derive the necessary and sufficient condition of the network structures under which these systems achieve average-consensus. First, we derive a conservative quantity and calculate a consensus value, which all the agents converge to. We show that the consensus value depends not only on the structures of the time-delay networks and the initial states of the agents, but also on the initial functions, which define the initial conditions for the time-delay systems. Then, the necessary and sufficient condition for average-consensus is derived, which is represented by the eigenvectors of the delay-transition and the delay-weight Laplacians. These Laplacians are newly introduced in this paper to express the structures of the time-delay networks. Finally, the validity of the analysis results are demonstrated by simulations with six-agent systems.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 47 (2), 100-109, 2011
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390001204504995200
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- NII論文ID
- 10027787685
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- NII書誌ID
- AN00072392
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- BIBCODE
- 2011TSICE..47..100S
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 11031781
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
