Consensus for a class of singular multi-agent systems based on pseudo predictive control
Changjiang Li, Shuai Liu · 2017
This paper investigates causal consensus problem of a class of singular (descriptor) multi-agent systems with network delays, fixed topology. For the studied systems, different from traditional open-loop prediction approach, a pseudo predictor based on closed-loop artificial system is proposed to predict the future state. For the time-varying delay, a data-receiving policy is proposed to turn it into constant delay. Consensus protocol is proposed based on predicted state to synchronize the agents' states. Necessary and sufficient conditions are derived for the existence of the proposed protocol to solve the considered consensus problem. A numerical example demonstrates the effectiveness of compensation for networked delays using the provided consensus algorithm.