IET Control Theory & Applications (Sep 2021)

Delay dependent criteria for the consensus of second‐order multi‐agent systems subject to communication delay

  • Amir Nejadvali,
  • Reza Mahboobi Esfanjani,
  • Arash Farnam,
  • Guillaume Crevecoeur

Journal volume & issue
Vol. 15, no. 13
pp. 1724 – 1735


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Abstract In this paper, a distributed controller is designed for the consensus of multi‐agent systems in which each agent has a general second‐order linear dynamic and the information is exchanged over a data‐delaying communication network. Using the sensitivity of system poles to the parameters of the control protocol, graphical delay‐dependent synthesis conditions are derived to tune the controller gains. A systematic procedure is developed to attain maximum tolerable transmission delay in the system. Moreover, simpler condition is provided for the special case where the second‐order model is reduced to a double integrator. Simulation results are presented to illustrate the merits of the proposed scheme compared to some recent rival ones in the literature.