Consensus of delayed linear multi-agent systems with dynamic leader under relative state saturation constraints via observer-based truncated predictor feedback
Javad Zanganeh, Seyed Kamal Hosseini Sani, Naser Pariz · International Journal of Systems Science · 2025
In this article, the consensus problem of general linear multi-agent systems (MASs) with time-varying input delay and saturation constraints of relative states via observer-based truncated predictor feedback is considered. First, the estimation of relative states (relative information) is converted to edge information (estimation of edge states) by applying the incidence matrix. As a result, the consensus problem of MASs with input delay and relative information saturation is transformed into the stabilization problem of delayed edge dynamics in bounded sets. Then, for the consensus of MASs with input delay and dynamic leader, an observer-based truncated predictor protocol using saturation functions is proposed, which ensures the consensus of MASs despite the constraints of relative information saturation. Next, sufficient conditions for the stability of the agents are obtained by creating the suitable Lyapunov-Krasovskii functional. Using these conditions, all agents reach a consensus and follow the path of the dynamic leader well. In addition, the saturation of relative states does not happen. Also, the error of estimating the states of the agents quickly becomes zero. This consensus and stability are obtained by preserving the connectivity of the communication network. In the end, to show the correctness of the above content, a practical example is simulated.