Consensus control of multi-agent systems with input and communication delay: A frequency domain perspective

Zahoor Ahmed; Muhammad Mansoor Khan; Muhammad Abid Saeed; Weidong Zhang

doi:10.1016/j.isatra.2020.02.005

Consensus control of multi-agent systems with input and communication delay: A frequency domain perspective

ISA Trans. 2020 Jun:101:69-77. doi: 10.1016/j.isatra.2020.02.005. Epub 2020 Feb 5.

Authors

Zahoor Ahmed¹, Muhammad Mansoor Khan², Muhammad Abid Saeed¹, Weidong Zhang³

Affiliations

¹ Department of Automation, Shanghai Jiaotong University, Shanghai 200240, PR China.
² Department of Electrical Engineering, Shanghai Jiaotong University, Shanghai, PR China.
³ Department of Automation, Shanghai Jiaotong University, Shanghai 200240, PR China. Electronic address: wdzhang@sjtu.edu.cn.

PMID: 32081402
DOI: 10.1016/j.isatra.2020.02.005

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 H₂ 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.

Keywords: Communication delay; Consensus; Frequency domain; Input delay; Multi-agent systems.