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Consensus of MASs With Input and Communication Delays by Predictor-Based Protocol.

Hao-Yuan Sun, Hong-Yan Yang, Hong-Gui Han

IEEE Transactions on Cybernetics

|August 17, 2022

Summary

This study addresses the consensus problem in multiagent systems (MASs) with delays. A predictor-based protocol effectively compensates for input and communication delays, enabling systems to reach consensus.

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Area of Science:

Control Theory
Robotics
Networked Systems

Background:

Multiagent systems (MASs) face challenges in achieving consensus due to inherent input and communication delays.
These delays can destabilize system performance and hinder coordinated behavior.

Purpose of the Study:

To investigate the consensus problem in linear MASs affected by input and communication delays.
To develop and analyze a predictor-based state feedback protocol for effective delay compensation.

Main Methods:

The study models the MAS as a feedback interconnection system, combining a linear time-invariant system with a time-delay operator.
The characteristic of the Laplacian matrix is utilized for system analysis.
The small gain theorem (SGT) is employed to evaluate the maximum permissible delay.

Main Results:

A predictor-based state feedback protocol is proposed to achieve consensus in linear MASs despite delays.
The analysis successfully determines the maximum delay that the system can tolerate while maintaining consensus.
Two numerical examples validate the theoretical findings and the effectiveness of the consensus condition.

Conclusions:

The proposed predictor-based protocol offers a viable solution for achieving consensus in MASs with delays.
The derived consensus condition provides a quantifiable measure for delay tolerance.
The findings are robust, as confirmed by numerical simulations.