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.


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    Title :

    Delay dependent criteria for the consensus of second‐order multi‐agent systems subject to communication delay



    Publication date :

    2021-01-01


    Remarks:

    IET CONTROL THEORY AND APPLICATIONS ; ISSN: 1751-8644 ; ISSN: 1751-8652



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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