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Research article

The critical delay of the consensus for a class of multi-agent system involving task strategies

  • Received: 26 August 2022 Revised: 25 November 2022 Accepted: 10 January 2023 Published: 18 January 2023
  • The time delay may induce oscillatory behaviour in multi-agent systems, which may destroy the consensus of the system. Therefore, the critical delay that is the maximum value of the delay to guarantee the consensus of the system, is an important performance index of multi-agent systems. This paper studies the influence of the processing delay on the consensus for a class of multi-agent system involving task strategies. The first-order system with a single delay and the second-order system with two different delays are investigated respectively. A critical delay independent of strategies and a critical region of the 2-D plane that depends on strategies is obtained for the first-order and the second-order system respectively. Specifically, a geometric method was used for the case of two different delays. Several numerical simulations are presented to explain the results.

    Citation: Yipeng Chen, Yicheng Liu, Xiao Wang. The critical delay of the consensus for a class of multi-agent system involving task strategies[J]. Networks and Heterogeneous Media, 2023, 18(2): 513-531. doi: 10.3934/nhm.2023021

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  • The time delay may induce oscillatory behaviour in multi-agent systems, which may destroy the consensus of the system. Therefore, the critical delay that is the maximum value of the delay to guarantee the consensus of the system, is an important performance index of multi-agent systems. This paper studies the influence of the processing delay on the consensus for a class of multi-agent system involving task strategies. The first-order system with a single delay and the second-order system with two different delays are investigated respectively. A critical delay independent of strategies and a critical region of the 2-D plane that depends on strategies is obtained for the first-order and the second-order system respectively. Specifically, a geometric method was used for the case of two different delays. Several numerical simulations are presented to explain the results.



    In mathematical analysis Hardy operator is considered an important averaging operator as it plays a vital role in many branches of mathematics, such as complex analysis, partial differential equations and harmonic analysis (for example, see [2,7,8,10,29]). In [6], Hardy introduced the one-dimensional Hardy operator

    Hf(x)=1xx0f(t)dt,x>0, (1.1)

    for a measurable function f:R+R+. The operator in (1.1) satisfies the below inequality

    HfLq(R+)qq1fLq(R+),1<q<, (1.2)

    where the constant q/(q1) is sharp. An extension of the operator H on higher dimensional space Rn was defined in [3] by Faris as

    Hf(x)=1|x|n|t||x|f(t)dt, (1.3)

    where |x|=(ni=1x2i)1/2 for x=(x1,,xn). Furthermore, Christ and Grafakos [1] acquired the exact value of the norm of operator H defined by (1.3). Recently, Hardy operator has gained a tremendous amount of consideration, see for example [16,20,24,30,33,34] and the references therein.

    In the past few decades there has been a relentless attention in p-adic models appearing in various branches of science. The applications of p-adic analysis are found mainly in the field of mathematical physics (see, for example, [15,26,27]). Importantly, many current researchers are paying a valiant effort to harmonic analysis on p-adic field [9,10,11,13,17,21,22,25].

    Let Q be a field of rational numbers and p a prime number. We introduce a so called p-adic norm |x|p on Q by a rule |x|p={0}{pγ:γZ}, where γ=γ(x) is defined from the following representation

    x=pγs/t,

    integers s and t are coprime to p. ||p fulfills all the axioms of a real norm along with the following non-Archimedean property:

    |x+y|pmax{|x|p,|y|p}. (1.4)

    The field of p-adic numbers Qp is the completion of Q with respect to ||p. Any nonzero p-adic number can be written in canonical form (see [28]) as:

    x=pγj=0αjpj, (1.5)

    where αj,γZ,αjZpZp,α00. Interestingly, the series in (1.5) is convergent with respect to ||p because |pγαkpj|p=pγj.

    The higher dimensional p-adic vector space Qnp consists of points x=(x1,x2,...,xn), where xiQp,i=1,2,...,n, with the following norm

    |x|p=max1in|xi|p. (1.6)

    Let

    Bγ(a)={xQnp:|xa|ppγ}, Sγ(a)={xQnp:|xa|p=pγ}

    be the ball and sphere respectively with center at aQnp and radius pγ. If a=0, we may write Bγ(0)=Bγ, Sγ(0)=Sγ.

    It is well known that the space Qnp is locally compact commutative group under addition, then there exists a translation invariant Haar measure dx which is normalized such that

    B0dx=|B0|H=1,

    where |A|H represents the Haar measure of a measurable subset A of Qnp. Moreover, one can easily show that |Bγ(a)|H=pnγ and |Sγ(a)|H=pnγ(1pn), for any aQnp.

    In what follows the p-adic Hardy operator

    Hpf(x)=1|x|np|t|p|x|pf(t)dt

    and its commutator

    Hpbf(x)=bHp(f)Hp(bf)

    were defined and studied for f,bLloc1(Qnp) in [4]. In the same paper, Fu et al. acquired the boundedness of p-adic Hardy operator and its commutator on Lebesgue spaces and Herz spaces. On the Morrey-Herz spaces, the p-adic Hardy type operators and their commutators are reported in [5]. For complete comprehension of p-Hardy operator and its commutator, we refer the publications [12,18,31,32].

    The purpose of the current article is to discuss the weighted central bounded mean oscillations and weighted p-adic Lipschitz estimates of Hpb on two weighted p-adic Herz spaces and p-adic Morrey-Herz spaces. Throughout this article a letter C denotes a constant whose value may change at its different places. It is mandatory to recall the definitions of relevant p-adic function spaces before moving to our results.

    Suppose w(x) is a nonnegative function on Qnp. The weighted measure of A is denoted and defined as w(A)=Aw(x)dx. The weighted p-adic Lebesgue space Lq(w,Qnp),(0<q<) is defined to be the space of all measurable functions f on Qnp such that:

    fLq(w,Qnp)=(Qnp|f(x)|qw(x)dx)1q<.

    The theory of Aq weights on Rn was introduced by Benjamin Muckenhoupt in [19]. Let us recall the definition of Aq weights in p-adic setting.

    Definition 1.1. [23] A weight function wAq(1q<) if there exists a constant C free from choice of BQnp such that

    (1|B|Bw(x)dx)(1|B|Bw(x)1q1dx)1/qC.

    For the case q=1,wA1, we have

    1|B|Bw(x)dxCessinfxBw(x),

    for every BQnp.

    Remark 1.2. A weight function wA if it undergoes the stipulation of Aq(1q<) weights.

    Definition 1.3. Suppose w is a weight function and 1q<. The p-adic space CMOq(w,Qnp) is defined by

    fCMOq(w,Qnp)=supγZ(1w(Bγ)Bγ|f(x)fBγ|qw(x)1qdx)1/q,

    where

    fBγ=1|Bγ|Bγf(x)dx. (1.7)

    Definition 1.4. [22] Suppose w1 and w2 are weight functions, 0<r,q< and αR. Then the two weighted p-adic Herz space Kα,rq(w1,w2) is defined as

    Kα,rq(w1,w2)={fLqloc(w2,Qnp{0}):fKα,rq(w1,w2)<},

    where

    fKα,rq(w1,w2)=(k=w1(Bk)αr/nfχkrLq(w2,Qnp))1/r (1.8)

    and χk is the characteristic function of the sphere Sk=BkBk1.

    Remark 1.5. Obviously K0,qq(w1,w2)=Lq(w2,Qnp).

    Definition 1.6. [22] Suppose w1 and w2 are weight functions, 0<r,q<, αR and λ0. Then the two weighted p-adic Morrey-Herz space MKα,λr,q(w1,w2) is defined as follows

    MKα,λr,q(w1,w2)={fLqloc(w2,Qnp{0}):fMKα,λr,q(w1,w2)<},

    where

    fMKα,λr,q(w1,w2)=supk0Zw1(Bk0)λ/n(k0k=w1(Bk)αr/nfχkrLq(w2,Qnp))1/r. (1.9)

    Remark 1.7. It is evident that MKα,0r,q(w1,w2)=Kα,rq(w1,w2).

    Definition 1.8. [23] Suppose 1q<, 0<β<1 and w is a weight function. The p-adic space Lipβ(w,Qnp) is defined as

    fLipβ(w,Qnp)=supBQnp1w(B)β/n(1w(B)B|f(x)fB|qw(x)1qdx)1/q,

    where

    fB=1|B|Bf(x)dx. (1.10)

    The following section discusses the weighted CMO estimates of Hpb on two weighted p-adic Herz-type spaces. We open up the section with few lemmas which are useful in proving key results.

    Lemma 2.1. [14] Suppose wA1, then there exist constants C1,C2 and 0<μ<1 such that

    C1|A||B|w(A)w(B)C2(|A||B|)μ,

    for any measurable subset A of a ball B.

    Remark 2.2. If wA1, then it follows from lemma (2.1) that there exist constants C and μ(0<μ<1) such that w(Bk)w(Bi)Cp(ki)n as i<k and w(Bk)w(Bi)Cp(ki)nμ as ik.

    Lemma 2.3. [23] Suppose wA1 and bCMOq(w,Qnp), then there is a constant C such that for i, kZ,

    |bBibBk|C(ik)bCMOq(w,Qnp)w(Bk)|Bk|.

    Lemma 2.4. [23] Suppose wA1, then for 1<q<,

    Bw(x)1qdxC|B|qw(B)1q,

    where 1/q+1/q=1.

    Now we state the result about the boundedness of Hpb on two weighted p-adic Herz-type spaces.

    Theorem 2.5. Let 0<r1r2<, 1r,q< and let wA1. If α<nμq, then the inequality

    Hpbf˙Kα,r2q(w,w1q)CbCMOrmax{q,q}(w,Qnp)f˙Kα,r1q(w,w)

    holds for all bCMOrmax{q,q}(w,Qnp) and fLloc(Qnp).

    If α=0,r1=r2=q, then we have the following result.

    Corollary 2.6. Let 1r,q< and wA1, then

    HpbfLq(w1q,Qnp)CbCMOrmax{q,q}(w,Qnp)fLq(w,Qnp)

    holds for all bCMOrmax{q,q}(w,Qnp) and fLloc(Qnp).

    Theorem 2.7. Let 0<r1r2<,1r,q< and let also wA1 and λ>0. If α<nμq+λ, then

    HpbfM˙Kα,λr2,q(w,w1q)CbCMOrmax{q,q}(w,Qnp)fM˙Kα,λr1,q(w,w)

    holds for all bCMOrmax{q,q}(w,Qnp) and fLloc(Qnp).

    Proof of Theorem 2.5: First, by the definition we have

    (Hpbf)χkqLq(w1q,Qnp)=Sk|x|qnp||t|p|x|pf(t)(b(x)b(t))dt|qw(x)1qdxCpkqnSk(|t|ppk|f(t)(b(x)b(t))|dt)qw(x)1qdx=CpkqnSk(ki=Si|f(t)(b(x)b(t))|dt)qw(x)1qdxCpkqnSk(ki=Si|f(t)(b(x)bBk)|dt)qw(x)1qdx+CpkqnSk(ki=Si|f(t)(b(t)bBk)|dt)qw(x)1qdx=I+II. (2.1)

    Since wA1Aq, making use of Hölder's inequality along with lemma 2.4, we have

    Sif(t)dt(Si|f(t)|qw(t)dt)1/q(Siw(t)q/qdt)1/qCfχiLq(w,Qnp)|Bi|w(Bi)1/q. (2.2)

    To estimate I, by the application of Hölder's inequality, Remark 2.2 along with inequality (2.2), we are down to

    ICpkqnbqCMOq(w,Qnp)w(Bk)(ki=fχiLq(w,Qnp)|Bi|w(Bi)1/q)qCpknqbqCMOq(w,Qnp)(ki=fχiLq(w,Qnp)|Bi|(w(Bk)w(Bi))1/q)qCbqCMOq(w,Qnp)(ki=p(ik)n/qfχiLq(w,Qnp))q. (2.3)

    Now, we estimate II as follows

    IICpkqnSk(ki=Si|f(t)(b(t)bBi)|dt)qw(x)1qdx+CpkqnSk(ki=Si|f(t)(bBkbBi)|dt)qw(x)1qdx=II1+II2. (2.4)

    Next, applying Hölder's inequality to deduce

    Si|f(t)(b(t)bBi)|dt(Si|f(t)|qw(t)dt)1/q(Si|b(t)bBi|qw(t)q/qdt)1/qw(Bi)1/qfχiLq(w,Qnp)bCMOq(w,Qnp). (2.5)

    By the application of Hölder's inequality, inequality (2.5), lemma 2.4 and Remark 2.2, we are in a position to estimate II1.

    II1CpkqnSkw(x)1qdx(ki=fχiLq(w,Qnp)w(Bi)1/q)qCpkqn|Bk|qw(Bk)1qbqCMOq(w,Qnp)(ki=fχiLq(w,Qnp)w(Bi)1/q)qCbqCMOq(w,Qnp)(ki=(w(Bi)w(Bk))11/qfχiLq(w,Qnp))qCbqCMOq(w,Qnp)(ki=p(ik)nμ/qfχiLq(w,Qnp))q. (2.6)

    Next task is to estimate II2. For this, we use Hölder's inequality, lemmas 2.3 and 2.4, Remark 2.2 and inequality (2.2)

    II2Cpkqn×Sk(ki=Si|f(y)(ik)bCMOr(w,Qnp)w(Bi)|Bi||dy)qw(x)1qdxCpkqnbqCMOr(w,Qnp)|Bk|qw(Bk)1q×(ki=(ki)w(Bi)11/q|Bi||Bi|fχiLq(w,Qnp))qCbqCMOr(w,Qnp)×(ki=(ki)(w(Bi)w(Bk))11/qfχiLq(w,Qnp))qCbqCMOr(w,Qnp)×(ki=(ki)p(ik)nμ/qfχiLq(w,Qnp))q. (2.7)

    From (2.3), (2.6) and (2.7) together with Jensen's Inequality, we have

    Hpbf˙Kα,r2q(w,w1q)=(k=w(Bk)αr2/n(Hpbf)χkr2Lq(w1q,Qnp))1/r2(k=w(Bk)αr1/n(Hpbf)χkr1Lq(w1q,Qnp))1/r1CbCMOq(w,Qnp)(k=w(Bk)αr1/n(ki=p(ik)n/qfχiLq(w,Qnp))r1)1/r1+CbCMOq(w,Qnp)(k=w(Bk)αr1/n(ki=p(ik)nμ/qfχiLq(w,Qnp))r1)1/r1+CbCMOr(w,Qnp)(k=w(Bk)αr1/n(ki=(ki)p(ik)nμ/qfχiLq(w,Qnp))r1)1/r1=J.

    Therefore,

    Jr1Cbr1CMOrmax{q,q}(w,Qnp)×k=w(Bk)αr1/n(ki=(ki)p(ik)nμ/qfχiLq(w,Qnp))r1Cbr1CMOrmax{q,q}(w,Qnp)×k=(ki=(ki)p(ik)nμ/qαfχiLq(w,Qnp))r1.

    In what follows we consider two cases, 0<r11 and r1>1.

    Case 1: When 0<r11 and α<nμ/q, we have

    Jr1Cbr1CMOrmax{q,q}(w,Qnp)×k=ki=(ki)r1w(Bi)αr1/np(ik)(nμ/qα)r1fχir1Lq(w,Qnp)=Cbr1CMOrmax{q,q}(w,Qnp)×k=w(Bi)αr1/nfχir1Lq(w,Qnp)k=i(ki)r1p(ik)(nμ/qα)r1=Cbr1CMOrmax{q,q}(w,Qnp)fr1˙Kα,r1q(w,w).

    Case 2: Whenever r1>1, an application of Hölder's inequality with α<nμ/q, we get

    Jr1Cbr1CMOrmax{q,q}(w,Qnp)k=ki=w(Bi)αr1/nfχir1Lq(w,Qnp)p(ik)(nμ/qα)r1/2×(ki=(ki)r1p(ik)(nμ/qα)r1/2)r1/r1=Cbr1CMOrmax{q,q}(w,Qnp)k=w(Bi)αr1/nfχir1Lq(w,Qnp)k=ip(ik)(nμ/qα)r1/2=Cbr1CMOrmax{q,q}(w,Qnp)fr1˙Kα,r1q1(w,w).

    Hence, the proof of theorem is completed.

    Proof of Theorem 2.7: From theorem 2.5, we have

    (Hpb)fχkLq(w1q,Qnp)Cbr1CMOrmax{q,q}(w,Qnp)ki=(ki)p(ik)(nμ/q)fχiLq(w,Qnp).

    By definition of weighted p-adic Morrey-Herz spaces and Jensen's Inequality along with α<nμ/q+λ, λ>0 and 1<r1<, we reach at

    HpbfM˙Kα,λr2,q(w,w1q)=supk0Zw(Bk0)λ/n(k0k=w(Bk)αr2/n(Hpbf)χkr2Lq(w1q,Qnp))1/r2supk0Zw(Bk0)λ/n(k0k=w(Bk)αr1/n(Hpbf)χkr1Lq(w1q,Qnp))1/r1CbCMOrmax{q,q}(w,Qnp)supk0Zw(Bk0)λ/n×(k0k=w(Bk)λr1/n(ki=(ki)p(ik)nμ/q(w(Bk)w(Bi))λr1/n×w(Bi)λ/n(il=w(Bl)αr1/nfχir1Lq(w,Qnp))1/r1)r1)1/r1CbCMOrmax{q,q}(w,Qnp)supk0Zw(Bk0)λ/n×(k0k=w(Bk)λr1/n(ki=(ki)p(ik)(nμ/qα+λ)fM˙Kα,λr1,q(w,w))r1)1/r1CbCMOrmax{q,q}(w,Qnp)supk0Zw(Bk0)λ/n×(k0k=w(Bk)λr1/n)1/r1fM˙Kα,λr1,q(w,w)CbCMOrmax{q,q}(w,Qnp)fM˙Kα,λr1,q(w,w).

    The current section deals the weighted p-adic Lipschitz estimates of Hpb on two weighted p-adic Herz-type spaces. The outset of a section is with a lemma which is helpful in proving main results.

    Lemma 3.1. [23] Suppose wA1 and bLipβ(w,Qnp), then there is a constant C such that for i, kZ,

    |bBibBk|C(ik)bLipβ(w,Qnp)w(Bi)β/nw(Bk)|Bk|.

    Now, we state the result about the boundedness of commutator of p-adic Hardy operator on two weighted p-adic Herz-type spaces.

    Theorem 3.2. Let 0<r1r2<, 1q1,q2<,1/q11/q2=β/n and let wA1. If α<nμq1, then the inequality

    Hpbf˙Kα,r2q2(w,w1q2)CbLipβ(w,Qnp)f˙Kα,r1q1(w,w)

    holds for all bLipβ(w,Qnp) and fLloc(Qnp).

    If α=0,r1=q1=p and r2=q2=q, then we have the following corollary.

    Corollary 3.3. Let 1q<, 1/q11/q2=β/n and wA1, then

    HpbfLq(w1q,Qnp)CbLipβ(w,Qnp)fLq(w,Qnp)

    holds for all bLipβ(w,Qnp) and fLloc(Qnp).

    Theorem 3.4. Let 0<r1r2<, 1q1,q2<,1/q11/q2=β/n and let wA1. If α<nμq1+λ, then

    HpbfM˙Kα,λr2,q2(w,w1q2)CbLipβ(w,Qnp)fM˙Kα,λr1,q1(w,w)

    holds for all bLipβ(w,Qnp) and fLloc(Qnp).

    Proof of Theorem 3.2: In a similar fashion as that of theorem 2.5, we get

    (Hpbf)χkq2Lq2(w1q2,Qnp)Cpkq2nSk(ki=Si|f(t)(b(x)bBk)|dt)q2w(x)1q2dx+Cpkq2nSk(ki=Si|f(t)(b(t)bBk)|dt)q2w(x)1q2dx=L+LL. (3.1)

    For the evaluation of L, we apply Hölder's inequality, Remark 2.2, β/n=1/q11/q2,wA1Aq1, and inequality (2.2) to get

    LCpkq2nbq2Lipβ(w,Qnp)w(Bk)1+βq2/n{ki=fχiLq1(w,Qnp)|Bi|w(Bi)1/q1}q2Cpknq2bq2Lipβ(w,Qnp){ki=fχiLq1(w,Qnp)|Bi|(w(Bk)w(Bi))1/q1}q2Cbq2Lipβ(w,Qnp)(p(ki)n/q1fχiLq1(w,Qnp))q2. (3.2)

    In order to evaluate LL, we proceed as follows

    LLCpkq2nSk(ki=Si|f(t)(b(t)bBi)|dt)q2w(x)1q2dx+Cpkq2nSk(ki=Si|f(t)(bBkbBi)|dt)q2w(x)1q2dx=LL1+LL2. (3.3)

    The following preparation will do world of good to estimate LL1. Using Hölder's inequality, we have

    Si|f(t)(b(t)bBi)|dt(Si|f(t)|q1w(t)dt)1/q1(Si|b(t)bBi|q1w(t)q1/q1dt)1/q1w(Bi)1/q1+β/nfχiLq1(w,Qnp)bLipβ(w,Qnp). (3.4)

    To evaluate LL1, we apply Hölder's inequality, inequality (3.4), lemma 2.4 and Remark 2.2.

    LL1Cpkq2nSkw(x)1q2dx(ki=fχiLq1(w,Qnp)w(Bi)1/q1+β/nbLipβ(w,Qnp))q2Cpkq2n|Bk|q2w(Bk)1q2bq2Lipβ(w,Qnp)(ki=fχiLq1(w,Qnp)w(Bi)1/q1+β/n)q2Cbq2Lipβ(w,Qnp)(ki=(w(Bi)w(Bk))11/q2fχiLq1(w,Qnp))q2Cbq2Lipβ(w,Qnp)(ki=p(ik)nμ/q2fχiLq1(w,Qnp))q2. (3.5)

    Next step is to evaluate LL2. For this we use Hölder's inequality, lemmas 3.1 and 2.4, inequality (2.2), and Remark 2.2 to get

    LL2Cpkq2nbq2Lipβ(w,Qnp)|Bk|q2w(Bk)1q2×(ki=(ki)w(Bk)β/nw(Bi)|Bi||Bi|w(Bi)1/q1fχiLq1(w,Qnp))q2=Cbq2Lipβ(w,Qnp)×(ki=(ki)(w(Bi)w(Bk))11/q1fχiLq1(w,Qnp))q2Cbq2Lipβ(w,Qnp)×(ki=(ki)p(ik)nμ/q1fχiLq1(w,Qnp))q2. (3.6)

    Remaining proof is more or less same to the proof of theorem 2.5. Thus, we conclude the theorem.

    Proof of Theorem 3.4: Let α<nμ/q1+λ. By the definition of weighted p-adic Morrey-Herz spaces together with inequalities (3.2), (3.5), and (3.6), we have

    HpbfM˙Kα,λr2,q2(w,w1q2)CbLipβ(w,Qnp)supk0Zw(Bk0)λ/n(k=w(Bk)βr2/n(ki=p(ik)n/q1fχiLq1(w,Qnp))r2)1/r2+CbLipβ(w,Qnp)supk0Zw(Bk0)λ/n(k=w(Bk)βr2/n(ki=p(ik)nμ/q2fχiLq1(w,Qnp))r2)1/r2+CbLipβ(w,Qnp)supk0Zw(Bk0)λ/n(k=w(Bk)βr2/n(ki=(ki)p(ik)nμ/q1fχiLq1(w,Qnp))r2)1/r2=S1+S2+S3.

    Next by applying the similar arguments as in theorem 2.7, we get

    S1CbLipβ(w,Qnp)fM˙Kα,λr1,q(w,w),α<n/q1+λ,
    S2CbLipβ(w,Qnp)fM˙Kα,λr1,q(w,w),α<nμ/q2+λ,
    S3CbLipβ(w,Qnp)fM˙Kα,λr1,q(w,w),α<nμ/q1+λ.

    So, the proof of the theorem is finished.

    The authors extend their appreciation to the Deanship of Scientific Research at King Khalid University, Abha 61413, Saudia Arabia for funding this work through research groups program under grant number R.G. P-2/29/42.

    The authors declare that they have no conflict of interest.



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