TY - GEN
T1 - Convergence rate analysis of delay interconnected positive systems under formation control
AU - Ebihara, Yoshio
PY - 2015/9/8
Y1 - 2015/9/8
N2 - This paper is concerned with the analysis of interconnected systems where positive subsystems are connected by a nonnegative interconnection matrix with communication delays. Recently, we have shown that, under mild assumptions on the positive subsystems and the interconnection matrix, the delay interconnected system has stable poles only except for a simple pole at the origin, and the output of the interconnected system converges to a scalar multiple of a prescribed positive vector. This result is effectively used for formation control of multi-agent systems with positive dynamics, where the desired formation is basically achieved irrespective of the length of the delays. However, the rate of convergence varies according to the length of the delays and hence quantitative evaluation of the convergence rate is an important issue. For the quantitative evaluation of the convergence rate, in this paper, we provide an efficient method for the computation of the lower bounds of the second largest real part of the (infinitely many) poles of the delay interconnected positive systems.
AB - This paper is concerned with the analysis of interconnected systems where positive subsystems are connected by a nonnegative interconnection matrix with communication delays. Recently, we have shown that, under mild assumptions on the positive subsystems and the interconnection matrix, the delay interconnected system has stable poles only except for a simple pole at the origin, and the output of the interconnected system converges to a scalar multiple of a prescribed positive vector. This result is effectively used for formation control of multi-agent systems with positive dynamics, where the desired formation is basically achieved irrespective of the length of the delays. However, the rate of convergence varies according to the length of the delays and hence quantitative evaluation of the convergence rate is an important issue. For the quantitative evaluation of the convergence rate, in this paper, we provide an efficient method for the computation of the lower bounds of the second largest real part of the (infinitely many) poles of the delay interconnected positive systems.
UR - http://www.scopus.com/inward/record.url?scp=84957717584&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84957717584&partnerID=8YFLogxK
U2 - 10.1109/ASCC.2015.7244413
DO - 10.1109/ASCC.2015.7244413
M3 - Conference contribution
AN - SCOPUS:84957717584
T3 - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
BT - 2015 10th Asian Control Conference
A2 - Selamat, Hazlina
A2 - Ramli, Hafiz Rashidi Haruna
A2 - Faudzi, Ahmad Athif Mohd
A2 - Rahman, Ribhan Zafira Abdul
A2 - Ishak, Asnor Juraiza
A2 - Soh, Azura Che
A2 - Ahmad, Siti Anom
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th Asian Control Conference, ASCC 2015
Y2 - 31 May 2015 through 3 June 2015
ER -