Consensus Control for a Multiagent System with Time Delays

Abstract

In this paper, we consider the consensus control problem for a multiagent system (MAS) consisting of integrator dynamics with input and output time delays. First, we investigate a consensus condition for the MAS with a linear controller and without any delay compensation. We then propose a consensus controller with a state predictor to compensate the effect of time delay. The consensus condition for this controller is derived and investigated. Finally, we present an example of solving the consensus control problem for two-wheel mobile robots with feedback loops that pass through a computer network with time delays. To demonstrate the validity of the predictor-based controller, we conduct experiments with two-wheel mobile robots and present the results.

Consensus Problem for Linear Time‐Invariant Systems with Time‐Delay

“…. , to subpredictors (16) and prediction errors (17) and assuming = in system (1) results in the chain of predictors (7) and error signals (12).…”

“…Prediction-based schemes have been proposed for systems without time-delays to estimate the current state of the agents when only relative measurements are available. For systems with time-delay the consensus problem of single integrator agents with input and output time-delay is studied in [17] where a state predictor is used to compensate the time-delay, while consensus-based formation of agents with double integrator dynamics [18] and heterogeneous systems composed of agents with single and double integrators [19] are studied and the input time-delay 2 Mathematical Problems in Engineering is compensated by means of a state predictor. The consensus problem of high-order multiagent systems with input and output communication delays is solved in [20] by means of a truncated predictor-based scheme.…”

Multi-agent systems in the field of urbane-mobility: A Systematic Review

“…• Consideraciones respecto a la demora temporal: La aceptación de la existencia de dilataciones temporales en los procesos marca esta distinción. Algunos autores no lo tienen en cuenta en sus iniciativas [21], y otros lo incorporan como elemento clave [22]. • Tipología: Relacionado con los cambios en la localización y relación de los agentes.…”