This paper investigates the long input delay problem in consensus control of multi-agent systems with directed graph. First, cascade structure predictive observers are designed to obtain the future state for each agent. Then, adaptive technique based consensus controllers are designed for the agents to make sure that any global information is not needed. Lyapunov–Krasovskii functionals are used for the delay upper bound analysis and sufficient conditions are derived to guarantee that the consensus errors converge to zero asymptotically. Finally, the proposed controllers are verified through numerical simulation and UAVs formation flying tests.

中文翻译：

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用于无人机控制编队飞行的共识控制的级联结构预测观测器设计

本文研究了有向图的多智能体系统共识控制中的长输入延迟问题。首先，设计级联结构预测性观察者以获取每个代理的未来状态。然后，为代理设计基于自适应技术的共识控制器，以确保不需要任何全局信息。Lyapunov–Krasovskii泛函用于延迟上限分析，并推导了足够的条件来保证共识误差渐近收敛于零。最后，通过数值模拟和无人机编队飞行试验对所提出的控制器进行了验证。