Consensus of Lipschitz Nonlinear Multiagent Systems With Input Delay via Observer-Based Truncated Prediction Feedback
Hongjun Chu, Lixin Gao, Dong Yue, Chunxia Dou · IEEE Transactions on Systems Man and Cybernetics Systems · 2019
This paper investigates leaderless consensus and leader-following consensus of multiagent systems with Lipschitz nonlinearity and input delay. For such systems, the observer-based truncated prediction feedback protocols are designed via dropping the distributed term and remaining the exponential term of the solution of the system equation over the delay period. Using Lyapunov-Krasovskii functional approach, two sufficient criteria are, respectively, established for achieving leaderless and leader-following consensus. The observer and controller gains are then obtained by means of an iterative linear matrix inequality procedure. A numerical simulation verifies the effectiveness of the proposed control design approach.