Fast Consensus Against Noise in a Large-Scale Multi-Agent System with Distributed Proportional-Retarded (PR) Controllers
Adrián Ramírez, Rifat Sipahi · 2018
We investigate stability, fast consensus, and noise sensitivity in a large-scale multi-agent system (MAS) with agents controlled by Proportional-Retarded (PR) controllers. The controller, originally developed for SISO systems, uses a time delay to implement a retarded control term capable of reproducing the dynamic features of a derivative action but being insensitive to high-frequency signals. The main contribution of this paper provides an explicit stability condition for the closed-loop system in terms of PR protocol parameters and Lambert W functions and assesses the utility of PR controllers against noise in MAS over standard PD controllers.