Guaranteed consensus performance in second-order networked multi-agent systems with induced delay

Abstract

This work described the performance of consensus control of the second-order networked multi-agent system with CAN bus-induced delay. First, the characteristics of controller area networks (CAN) buses and the main causes of CAN bus induce a delay in distributed networked control systems (DNCS) were analysed. Secondly, DNCS is converted into a model of networked multi-agent systems in the frequency domain. Then based on the designed model of networked multi-agent systems, an analytical H2 controller is proposed for performance tracking. Moreover, a complementary sensitivity function is used to assess the robustness of the proposed controller. In the end, delay margin criteria are derived for the consensus of a networked multi-agent system in the presence of CAN bus-induced delay. The results obtained by simulating the second-order networked multi-agent system verified the usefulness of the proposed control protocol.

H∞ performance tracking and group consensus of delayed multiagent systems under attack

“…Furthermore, the proposed technique is significant because it is useful for the group consensus of MASs as compared to simple consensus work in Ahmed et al (2021), which could not address group consensus of MASs. Similarly, the proposed technique shows better results as compared to Nasir et al (2021Nasir et al ( , 2022 in the presence of input time delay of grouped MASs.…”

“…Multiagent systems (MASs) comprise several nodes that perform common tasks using a shared communication channel through coordination and communication Nasir et al (2022); Ahmed et al (2022). From the last decade, MASs have been attracted due to their utilization in the field of engineering like robotic networks Yao et al (2020); Wu et al (2018), energy systems Chowdhury and Khalil (2021); Hu et al (2021) and sensor networks Olfati-Saber and Murray (2004); Guyeux et al (2020).…”