Frequency domain consensus control analysis of the networked multi-agent system with controller area network bus–induced delay

Abstract

This article describes the consensus control issue of networked multi-agent system with controller area network bus–induced delay in the frequency domain. Initially, causes of the controller area network bus–induced delay in distributed networked control systems and features of controller area network buses are analyzed. Then, networked multi-agent systems composed of distributed networked control systems are modeled in the frequency domain. An analytical controller based on the parameterization technique is proposed to improve the H2 performance criterion of distributed networked control systems. The performance tracking and robustness of the controller is analyzed by its sensitivity functions. After the performance and robustness analysis, the delay margin criteria and consensus conditions of networked multi-agent systems are derived in the existence of controller area network bus–induced delay. We verify the efficiency of the proposed method by simulating examples.

Guaranteed consensus performance in second-order networked multi-agent systems with induced delay

“…Let us consider a homogenous networked multi-agent system ( MAS) [12] which consists of n agents. Each agent of MASs have the same transfer function i.e.…”

“…Let us have a dynamical multi-agent system. The transfer function of a dynamical agent can be written as [12]:…”

“…Agents are described by the transfer function mentioned in [12]. If they are coordinating with each other through directed or undirected communication topology, then homogeneous MAS achieves consensus subsequently and H2 performance index achieved can be explained as…”

“…Many techniques have been proposed to minimize the CAN bus induce delay effects. For example, an analytical controller is designed in the frequency domain for the consensus control of NMAS in the presence of CAN bus induce delay [12]. After that, a linear model based on internal stability analysis is proposed to solve the issue of CAN bus induce delay and communication delay in NMASs [13].…”

“…There has been a lot of research done were delays in multi-agent systems considered and analysed [12][13][14]. These works have discussed both Ti and Tc either individually or combined.…”