Consensus of Discrete-Time Multiagent Systems With Input Delays by Truncated Pseudo-Predictor Feedback

Area of Science:

• Control Theory
• Distributed Systems
• Robotics

Background:

• Multiagent systems (MASs) are crucial for complex tasks, but achieving consensus with input delays presents significant challenges.
• Existing methods often struggle with large or bounded delays and actuator saturation.

Purpose of the Study:

• To develop a robust consensus protocol for discrete-time linear MASs with multiple input delays.
• To address the limitations of existing methods regarding delay bounds and actuator saturation.

Main Methods:

• A truncated pseudo-predictor feedback (TPPF) approach is proposed.
• The TPPF protocols are designed to be finite-dimensional and utilize relative current state information.
• Assumptions are made to ensure the feasibility and effectiveness of the TPPF approach.

Main Results:

• The proposed TPPF protocols effectively solve the consensus problem for MASs with arbitrarily large yet bounded input delays.
• The protocols demonstrate practical implementability due to their finite-dimensional nature and reliance on local information.
• Semi-global consensus is achievable even when actuators are subject to saturation.

Conclusions:

• The TPPF approach offers a practical and effective solution for consensus in MASs with input delays and actuator saturation.
• This work advances the field of distributed control by providing a robust and implementable consensus protocol.