Consensus control of multi-agent systems with input and communication delay: A frequency domain perspective. (June 2020)

• Record Type: Journal Article
• Authors: Ahmed, Zahoor; Khan, Muhammad Mansoor; Saeed, Muhammad Abid; Zhang, Weidong
• Is Part Of: ISA transactions. Volume 101(2020)
• Page Start: 69
• Page End: 77
• Publication Date: 2020-06
• Subjects: Consensus -- Multi-agent systems -- Communication delay -- Input delay -- Frequency domain; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2020.02.005
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: This paper describes consensus control of multi-agent systems (MAS) with input and communication delay in the frequency domain. Each agent of MAS is a linear continuous-time system. The considered linear dynamic model of each agent involves multiple input delays. An H 2 controller is proposed for optimal performance and robustness of the MAS. The internal stability approach is employed to compute the H2 controller and the performance index of the overall MAS. A sufficient criterion is derived for gain and delay margin to reach convergence. The simulation paradigm shows the effectiveness of the proposed control scheme. Highlights: This paper studies the consensus problem in multi-agent systems with delays. The proposed algorithms have been analyzed in the frequency domain. The homogenous linear dynamic model of each agent involves multiple input delays. The internal stability is used to design the proposed controller. Sufficient criteria are obtained for gain and delay margins.