Consensus for multi-agent systems with time-varying input delays

Chengzhi Yuan and Fen Wu

International Journal of Systems Science, 2017, vol. 48, issue 14, 2956-2966

Abstract: 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 H∞$\mathcal {H}_\infty$ disturbance attenuation performance can be synthesised efficiently via convex optimisation. A numerical example is used to demonstrate the proposed approach.

Date: 2017
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DOI: 10.1080/00207721.2017.1363927

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