Robust consensus control of multi-agent systems with input delay
Abstract
In this chapter, we systematically investigate the robust consensus control problem of multi-agent systems with nonlinearity and time delay. To deal with the input delay, model reduction method is employed by a state transformation in the presence of nonlinearity in the agent dynamics. Compensation based on the relative input information is added in the controller design to offset any constant input delay. Due to the limitations of sensors or link failures, sometimes, the relative input information is unobtainable. For such cases, the TPF (short for truncated prediction feedback) approach is adopted to deal with the input delay, and a finite-dimensional TPF controller is ...
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