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Global Consensus of High-Order Discrete-Time Multi-Agent Systems with Communication Delay and Saturation Constraint
Chong Tan1, Yin Cui1, Yanjiang Li2
1School of Automation, Harbin University of Science and Technology, Harbin 150080, China.
Abstract:
This article aimed to study the global consensus problem of high-order multi-agent systems with a saturation constraint and communication delay. Among them, all agents are described by discrete-time systems. Firstly, in order to compensate for the communication delay, a networked predictive control method is adopted and a predictive-based control protocol is designed. Secondly, for the neutrally stable agent model, leaderless and leader-following situations are considered and it is proven that, under a fixed communication topology, adopting the prediction-based control protocol makes the multi-agent systems with saturation constraint and communication delay achieve a global consensus. Finally, the results are illustrated via numerical simulation.
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