On Compensating Actuator Delays in Consensus Control Under Undirected Graphs
Ran Huang, Zhengtao Ding · IEEE Transactions on Automatic Control · 2020
This article studies delay compensation in consensus control under undirected graphs via output feedback. The dynamics of each node involved in the network is subject to an unknown bounded actuator delay. A transport partial differential equation is employed to model the dynamics of the delay state, and a filter with adaptive control gains is proposed using the available relative output information of neighboring nodes. Based on the state of the filter, the estimation delay state, and the delay estimation, we propose two distributed adaptive output feedback consensus protocols. The first one employs a delay-adaptive predictor and guarantees local consensus, whereas the second one, replacing the delay estimation by a constant, is proven to be a global consensus controller provided that the delay mismatch is in a small compact set. Simulation results performed on a group of neutrally stable systems are presented to validate the effectiveness of the proposed scheme.