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On-line Access: 2021-01-11

Received: 2020-04-30

Revision Accepted: 2020-08-24

Crosschecked: 2020-09-28

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Citations:  Bibtex RefMan EndNote GB/T7714


Branislav Rehák


Volodymyr Lynnyk


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Frontiers of Information Technology & Electronic Engineering  2021 Vol.22 No.1 P.97-106


Leader-following synchronization of a multi-agent system with heterogeneous delays

Author(s):  Branislav Rehák, Volodymyr Lynnyk

Affiliation(s):  The Czech Academy of Sciences, Institute of Information Theory and Automation, Praha 18200, Czech Republic

Corresponding email(s):   rehakb@utia.cas.cz, volodymyr.lynnyk@utia.cas.cz

Key Words:  Multi-agent system, Time delay, Linear matrix inequality

Branislav Rehák, Volodymyr Lynnyk. Leader-following synchronization of a multi-agent system with heterogeneous delays[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(1): 97-106.

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T1 - Leader-following synchronization of a multi-agent system with heterogeneous delays
A1 - Branislav Rehák
A1 - Volodymyr Lynnyk
J0 - Frontiers of Information Technology & Electronic Engineering
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EP - 106
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DOI - 10.1631/FITEE.2000207

An algorithm is presented for leader-following synchronization of a multi-agent system composed of linear agents with time delay. The presence of different delays in various agents can cause a synchronization error that does not converge to zero. However, the norm of this error can be bounded and this boundary is presented. The proof of the main results is formulated by means of linear matrix inequalities, and the size of this problem is independent of the number of agents. Results are illustrated through examples, highlighting the fact that the steady error is caused by heterogeneous delays and demonstrating the capability of the proposed algorithm to achieve synchronization up to a certain error.


Branislav REHáK,Volodymyr LYNNYK



Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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