Convergence rate analysis of delay interconnected positive systems under formation control

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2015 10th Asian Control Conference
Subtitle of host publicationEmerging Control Techniques for a Sustainable World, ASCC 2015
EditorsHazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479978625
DOIs
Publication statusPublished - Sep 8 2015
Externally publishedYes
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015Jun 3 2015

Publication series

Name2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

Other

Other10th Asian Control Conference, ASCC 2015
CountryMalaysia
CityKota Kinabalu
Period5/31/156/3/15

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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