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 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.
Leader-Following Consensus Control of General Linear Multi-Agent Systems With Diverse Time-Varying Input Delays
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 20, 2017; final manuscript received November 15, 2017; published online December 22, 2017. Assoc. Editor: Yunjun Xu.
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Yuan, C. (December 22, 2017). "Leader-Following Consensus Control of General Linear Multi-Agent Systems With Diverse Time-Varying Input Delays." ASME. J. Dyn. Sys., Meas., Control. June 2018; 140(6): 061010. https://doi.org/10.1115/1.4038649
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