Consensus in multi-agent system with communication constraints based on asynchronous dynamics

Xueli Fan, Xunhe Yin*, Mi An, Hak Keung Lam, Xueye Wei

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)
321 Downloads (Pure)


The consensus in a multi-agent system (MAS) in which each agent communicates with the others over a wireless network is investigated. For the convenience of calculation, analysis and discussion, the MAS under fixed communication topology with communication constraints including random time delay, packet loss and environmental noise is transformed into an asynchronous dynamical system. Thus, the consensus control of the MAS is equivalent to the H control of an asynchronous dynamical system. The sufficient conditions of robust exponential stability of the MAS with communication constraints are proposed and the corresponding γ-suboptimal H consensus controllers are designed in terms of linear matrix inequalities (LMIs). The admissible packet loss probability guaranteeing the robust exponential stability of system is also obtained. Subsequently, the corresponding simulation results are provided to demonstrate the effectiveness of the algorithms, and the impacts of time delay and packet loss on consensus of system are analysed in detail.

Original languageEnglish
Pages (from-to)1109-1126
Number of pages18
JournalTransactions of the Institute of Measurement and Control
Issue number4
Early online date19 Nov 2016
Publication statusPublished - 1 Feb 2018


  • Asynchronous dynamics
  • communication constraints
  • consensus
  • H
  • multi-agent system (MAS)


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