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Consensus for Linear Multiagent Systems With Time-Varying Delays: A Frequency Domain Perspective.

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    Area of Science:

    • Control Theory
    • Networked Systems

    Background:

    • Consensus is crucial for multiagent systems.
    • Time-varying delays complicate consensus achievement.
    • Existing methods may not handle fast, bounded delays.

    Purpose of the Study:

    • Investigate consensus problem for multiagent systems with time-varying delays.
    • Develop robust control strategies for systems with bounded, fast-varying delays.
    • Establish frequency domain criteria for consensus.

    Main Methods:

    • Transforming consensus into a robust control problem.
    • Utilizing the small gain theorem.
    • Analyzing delay-dependent gains for continuous-time and discrete-time systems.
    • Applying frequency domain design methods for controller synthesis.

    Main Results:

    • Sufficient frequency domain criteria for consensus are established.
    • The approach is effective for arbitrarily fast time-varying delays.
    • Controller synthesis is achievable using frequency domain methods.
    • Numerical examples validate the proposed methods.

    Conclusions:

    • The proposed frequency domain criteria effectively solve the consensus problem.
    • The methods are applicable to multiagent systems with significant time-varying delays.
    • Robust control and controller synthesis are demonstrated.