Consensus for multi-agent systems with time-varying input delays
Date of Original Version
This paper addresses the consensus control problem for linear multi-agent systems subject to uniform time-varying input delays and external disturbance. A novel state-feedback consensus protocol is proposed under the integral quadratic constraint (IQC) framework, which utilises not only the relative state information from neighbouring agents but also the real-time information of delays by means of the dynamic IQC system states for feedback control. Based on this new consensus protocol, the associated IQC-based control synthesis conditions are established and fully characterised as linear matrix inequalities (LMIs), such that the consensus control solution with optimal Hα disturbance attenuation performance can be synthesised efficiently via convex optimisation. A numerical example is used to demonstrate the proposed approach.
International Journal of Systems Science
Yuan, Chengzhi, and Fen Wu. "Consensus for multi-agent systems with time-varying input delays." International Journal of Systems Science 48, 14 (2017): 2956-2966. doi:10.1080/00207721.2017.1363927.