Guaranteed cost consensus for high-dimensional multi-agent systems with time-varying delays
Zhong Wang, Ming He, Zheng Tang, Zhiliang Fan, Guangbin Liu · IEEE/CAA Journal of Automatica Sinica · 2017
Guaranteed cost consensus analysis and design problems for high-dimensional multi-agent systems with time-varying delays are investigated. The idea of guaranteed cost control is introduced into consensus problems for high-dimensional multi-agent systems with time-varying delays, where a cost function is defined based on state errors among neighboring agents and control inputs of all the agents. By the state space decomposition approach and the linear matrix inequality (LMI), sufficient conditions for guaranteed cost consensus and consensualization are given. Moreover, a guaranteed cost upper bound of the cost function is determined. It should be mentioned that these LMI criteria are dependent on the change rate of time delays and the maximum time delay, the guaranteed cost upper bound is only dependent on the maximum time delay but independent of the Laplacian matrix. Finally, numerical simulations are given to demonstrate theoretical results.