Leader-Following Consensus Control of General Linear Multi-Agent Systems with Diverse Time-Varying Input Delays
Date of Original Version
This paper addresses the problem of leader-following consensus control of general linear multi-agent systems (MASs) with diverse time-varying input delays under the integral quadratic constraint (IQC) framework. A novel exact-memory distributed output-feedback delay controller structure is proposed, which utilizes not only relative estimation state information from neighboring agents but also local real-time information of time delays and the associated dynamic IQC-induced states from the agent itself for feedback control. As a result, the distributed consensus problem can be decomposed into H∞ stabilization subproblems for a set of independent linear fractional transformation (LFT) systems, whose dimensions are equal to that of a single agent plant plus the associated local IQC dynamics. New delay control synthesis conditions for each subproblem are fully characterized as linear matrix inequalities (LMIs). A numerical example is used to demonstrate the proposed approach.
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Yuan, Chengzhi. "Leader-Following Consensus Control of General Linear Multi-Agent Systems with Diverse Time-Varying Input Delays." Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME 140, 6 (2018). doi:10.1115/1.4038649.