This article describes the consensus control issue of networked multi-agent system with controller area network bus–induced delay in the frequency domain. Initially, causes of the controller area network bus–induced delay in distributed networked control systems and features of controller area network buses are analyzed. Then, networked multi-agent systems composed of distributed networked control systems are modeled in the frequency domain. An analytical controller based on the parameterization technique is proposed to improve the H₂ performance criterion of distributed networked control systems. The performance tracking and robustness of the controller is analyzed by its sensitivity functions. After the performance and robustness analysis, the delay margin criteria and consensus conditions of networked multi-agent systems are derived in the existence of controller area network bus–induced delay. We verify the efficiency of the proposed method by simulating examples.

本文描述了具有控制器局域网总线引起的频域延迟的网络化多代理系统的一致性控制问题。首先，分析了分布式网络控制系统中控制器局域网总线引起的延迟的原因和控制器局域网总线的特点。然后，在频域中对由分布式网络控制系统组成的网络化多代理系统进行建模。提出了一种基于参数化技术的解析控制器来改善H ₂分布式网络控制系统的性能标准。通过其灵敏度函数分析控制器的性能跟踪和鲁棒性。经过性能和鲁棒性分析，在控制器局域网总线引起的延迟存在的情况下，推导出网络化多代理系统的延迟裕度标准和共识条件。我们通过模拟实例验证了所提出方法的效率。