Consensus of a class of multi-agent systems with active leader and time delay
Jin Wang · Journal of the Graduate School of the Chinese Academy of Sciences · 2008
This paper considers the consensus problem of multi-agent systems with an active leader and time-varying delay.In our problem,the velocity of the leader can not be measured precisely.To track such a leader,a decentralized state-estimation rule is constructed for each agent,which is used to design local controllers.Due to the interconnection delays,both neighbor-based control rules and state-estimation rules involve time-varying delays.Moreover,with the directed(fixed or variable) interconnection topologies described by digraphs,the leader-following errors are estimated.Particularly,it is proved that each agent can track the leader if the input of the active leader is precisely known.