摘要：AbstractIn this paper, we study the consensus problem of second order agents with saturation. The distributed multi-agent system is connected under a fixed directed graph coupled with input and communication time-delays. Using the concepts of describing function analysis, agents are approximated into a cascade of linear and nonlinear systems. Nyquist stability criterion is used for analysing the linear system and conditions to reach consensus are derived. With simulation results and corresponding hardware implementation, the effectiveness of proposed approach for finding the limits on time delay are demonstrated.
关键词：KeywordsConsensusSaturationTime-delayDescribing FunctionDistributed controlMulti-agent system
