Global Consensus of Multi-agent Systems with Unknown Input Delay and State Delay by the Switching Predictor Feedback
Shujuan Yang, Guozhi Lü, Tong Wang, Mingguang Cui, Xinyuan Qiao, Yingchun Wang · 2024
The consensus problem for the linear time-invariant multi-agent systems (MAS) with the input delay and the state delay is investigated. First, we divide the bound of the unknown input delay into subintervals as an estimate of it. Then, a controller is designed based on the input delay estimator to achieve the cooperative goal. Second, using Lyapunov function, a logic-based switching mechanism is proposed to make the input delay estimator sufficiently close to the true delay. Finally, A numerical example is given to verify the effectiveness of the proposed controller and switching mechanism.