In this paper, we address the leaderless consensus control problem for a class of linear multi-agent systems (MASs) subject to nonlinear time-varying input delays and unknown external disturbances. The MAS is considered to be non-introspective, meaning that each individual agent is not able to measure the absolute plant state/output of its own but can sense relative information from its neighbours. A novel dynamic relative output-feedback (DROF) controller structure is proposed by leveraging the integral quadratic constraints (IQCs) from robust control theory. This new DROF controller is compelling in the sense that it utilises not only the relative plant outputs, but also the relative controller states and relative IQC-induced dynamics states for distributed feedback control. Based on this, the associated consensus control synthesis conditions that guarantee optimal ${\mathcal{H}}_{\mathrm{\infty }}$ disturbance attenuation performance in the presence of time-varying input delays are derived and formulated as linear matrix inequalities (LMIs), which can be solved efficiently via convex optimisation. Effectiveness of the proposed theoretical results is demonstrated through simulation studies.

在本文中，我们解决了一类线性多智能体系统（MAS）的无领导共识控制问题，该系统受到非线性时变输入延迟和未知外部干扰的影响。MAS 被认为是非内省的，这意味着每个个体无法测量其自身的绝对植物状态/输出，但可以感知来自其邻居的相关信息。利用鲁棒控制理论中的积分二次约束（IQC），提出了一种新颖的动态相对输出反馈（DROF）控制器结构。这种新的 DROF 控制器是引人注目的，因为它不仅利用相关工厂输出，而且利用相关控制器状态和相关 IQC 引起的动态状态进行分布式反馈控制。基于此，${\mathcal{H}}_{\mathrm{\infty }}$在存在时变输入延迟的情况下的干扰衰减性能被推导并表示为线性矩阵不等式（LMI），可以通过凸优化有效地解决。通过模拟研究证明了所提出的理论结果的有效性。