An Optimal Consensus Control for Multiple Agents System with Time-Delay and Disturbances
Dong Hao Wang, Jian Li Yuan, Juan Xu, Zhong Hai Zhou · Applied Mechanics and Materials · 2014
The optimal disturbance rejection control problem is considered for a kind of consensus with control time-delay affected by external persistent disturbances and noise. An transformation method is used to convert the consensus with control time-delay to the consensus system without time-delay. The optimal estimated values of the converted consensus system states are obtained by recursive filtering with Kalman filter. Then the feedforward-feedback optimal control law is deduced by solving the Riccati equations and matrix equations. Lastly, simulations show the result is effectiveness to the consensus system with time-delay with respect to external persistent disturbances and noise.