The method for determining the maximum allowable communication
data delay of a multi-agent formation
system solves the problem of how to effectively determine the maximum allowable communication
data delay, and belongs to the field of multi-agents. The present invention includes: S1, obtaining the parameters and iteration step ΔT of the
pilot-follower multi-agent formation
system; S2, calculating the block matrices C and E; S3, initializing the number of iterations f=1, setting the initial value of the
time lag variable d0=ΔT; S4, substituting d0 into the determination condition, calculating the feasible solution of the determination condition, if there is a solution, go to S5, if there is no solution, reduce the iteration step ΔT, go to S2, or replace the Laplace matrix of the communication topology and the communication matrix of the
pilot and follower, and go to S3; S5, updating the iteration step f=f+1; S6, d f‑1 =fΔT, d f‑1 Substitute the judgment conditions and calculate the feasible solutions to the judgment conditions. If there is a solution, go to S5. If there is no solution, the maximum communication
delay d M is (f‑1)ΔT.