Consensus of General Linear Multi-Agent Systems With Heterogeneous Input and Communication Delays

This letter studies the consensus tracking control for multi-agent systems (MASs) of general linear dynamics considering heterogeneous constant known input and communication delays under a directed graph containing spanning tree. First, open-loop stable MASs, distributed predictive observer is proposed to estimate error construct that does not involve any integral term (which time-efficient in calculation). Then, using generalized Nyquist criterion, we derive conditions asymptotic convergence closed-loop system show delay-independent. Subsequently, another designed allows MASs be unstable. Next, use criterion compute observer’s gain matrix. Towards this end, choose specific structure with which problem boils down computing single parameter, herein called parameter. Two algorithms are choosing parameter: one monotone systems. To best authors’ knowledge, first work proven arbitrary delays. Finally, validity our results demonstrated via vehicle platooning example.