Consensus for Linear Multiagent Systems With Time-Varying Delays: A Frequency Domain Perspective
研究了具有有界且可任意快时变时滞的多智能体系统的一致性问题，将问题转化为鲁棒控制，基于小增益定理给出频域判据，适用于连续和离散时间系统。
This paper investigates the consensus problem for multiagent systems with time-varying delays. The bounded delays can be arbitrarily fast time-varying. The communication topology is assumed to be undirected and fixed. With general linear dynamics under average state feedback protocols, the consensus problem is then transformed into the robust control problem. Further, sufficient frequency domain criteria are established in terms of small gain theorem by analyzing the delay dependent gains for both continuous-time and discrete-time systems. The controller synthesis problems can be solved by applying the frequency domain design methods. Numerical examples are demonstrated to verify the effectiveness of the proposed approaches.