In this paper, a distributed controller is designed for the consensus of multi-agent systems in which each agent has a general second-order linear dynamic and the information is exchanged over a data-delaying communication network. Using the sensitivity of system poles to the parameters of the control protocol, graphical delay-dependent synthesis conditions are derived to tune the controller gains. A systematic procedure is developed to attain maximum tolerable transmission delay in the system. Moreover, simpler condition is provided for the special case where the second-order model is reduced to a double integrator. Simulation results are presented to illustrate the merits of the proposed scheme compared to some recent rival ones in the literature.
Delay dependent criteria for the consensus of second‐order multi‐agent systems subject to communication delay
2021-01-01
IET CONTROL THEORY AND APPLICATIONS ; ISSN: 1751-8644 ; ISSN: 1751-8652
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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