IEEE Trans Cybern. 2019 Apr;49(4):1224-1235. doi: 10.1109/TCYB.2018.2798163. Epub 2018 Feb 21.
We investigate the use of a derivative-free control scheme called the multiple-delay proportional-retarded (PR) protocol to achieve fast consensus in a large-scale multiagent system. The delays are intentionally introduced in the PR with the purpose of creating derivative-like controllers that rely only on position measurements, thus mitigating undesirable noise effects. The main result places the spectral abscissa of the consensus dynamics at a desired locus and also achieves a user-defined spectral "separation," both of which directly influence convergence to consensus. Design rules and limitations arising from analytical derivations to achieve these results are laid out. Case studies are provided to demonstrate the concepts.
我们研究了一种无导数控制方案，称为多延迟比例滞后（PR）协议，以在大规模多智能体系统中实现快速共识。故意在 PR 中引入延迟，目的是创建类似于导数的控制器，该控制器仅依赖于位置测量，从而减轻了不良噪声的影响。主要结果将共识动力学的谱半轴置于期望的位置，并实现了用户定义的谱“分离”，这两者都直接影响到共识的收敛。为了实现这些结果，我们提出了一些分析推导的设计规则和限制。提供了案例研究来演示这些概念。
