Consensus Control for Linear Multiagent Systems Under Delayed Transmitted Information
研究有向网络中线性多智能体系统在邻居信息传输存在通信延迟时的一致性问题，分别针对延迟已知和未知情况给出显式一致性判据，并证明在特定条件下可彻底消除延迟影响。
In this study, consensus issue for general linear continuous-time multiagent systems (MASs) in a directed network is addressed. Suppose that the neighbors’ transmitted information is impacted by a communication delay, explicit consensus criteria are, respectively, obtained for both known delay and unknown delay cases. Especially, a new protocol applying the delay information is proposed if the delay is available. Furthermore, it is proved that the influence of delay can be eliminated thoroughly if the agent dynamic is at most critically unstable or the network topology satisfies the presented criteria. Finally, two simulation paradigms are performed to clarify the practicality of the newly developed methods.