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research-article

Leader-Following Consensus Control of General Linear Multi-Agent Systems with Diverse Time-Varying Input Delays

[+] Author and Article Information
Chengzhi Yuan

Assistant Professor, Member of ASME, Department of Mechanical, Industrial and Systems Engineering, University of Rhode Island, Kingston, RI 02881
cyuan@uri.edu

1Corresponding author.

ASME doi:10.1115/1.4038649 History: Received April 20, 2017; Revised November 15, 2017

Abstract

This paper addresses the problem of leader-following consensus control of general linear multi-agent systems 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 H? stabilization subproblems for a set of independent linear fractional transformation 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. A numerical example is used to demonstrate the proposed approach.

Copyright (c) 2017 by ASME
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