Admissible consensus analysis for high-order linear singular swarm systems with multiple time-varying delays and topology variances

摘要

Admissible consensus analysis problems for high-order linear time-invariant singular swarm systems with multiple time delays and time-varying interaction topologies are investigated. First, necessary and sufficient conditions for admissible consensus are presented, and admissible consensus problems are transformed into admissible problems of multiple lower dimensional singular systems. Then, on the basis of the first equivalent form, explicit expressions of consensus functions are given, where the impacts of initial states of agents and protocols, time delays and topology variances are determined, respectively. Moreover, it is shown that if interaction topologies are balanced, then swarm systems with the same initial states but different interaction topologies and different time delays have an identical consensus function. Finally, numerical simulations are given to demonstrate theoretical results.