Consensus of MASs With Input and Communication Delays by Predictor-Based Protocol
研究了多智能体系统在输入和通信延迟下的一致性问题，采用基于预测器的状态反馈协议补偿延迟，并利用小增益定理分析最大允许延迟，最后通过数值例子验证了条件有效性。
In this article, the consensus problem of multiagent systems (MASs) affected by input and communication delays is investigated. A predictor-based state feedback protocol is used to reach the consensus of linear MASs by delay compensation. In order to analyze the maximum delay under the predictor-based protocol, the overall MASs are equivalent to the feedback interconnection system, including a linear time-invariant system and a time-delay operator, in view of the characteristic of the Laplacian matrix. Then, the maximum delay corresponding to the predictor-based protocol is evaluated by using the small gain theorem (SGT). Finally, two numerical examples are given to verify the effectiveness of the obtained consensus condition.