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Consensus of uncertain multi-agent systems with input delay and disturbances

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Abstract

In this paper, the problem of robust consensus for multi-agent systems affected by external disturbances is discussed. A novel consensus control is developed by using a feedback controller based on disturbance rejection and Smith predictor scheme. Specifically, the disturbance rejection performance of the uncertain multi-agent systems is improved according to the estimation of equivalent-input-disturbance and the effect of time delay in the control system is reduced via Smith predictor scheme by shifting the delay outside the feedback loop. Furthermore, by combining Lyapunov theory, matrix inequality techniques and properties of Kronecker product, a robust feedback controller for each agent is designed such that the desired consensus of the uncertain multi-agent systems affected by external disturbances can be ensured. Finally, to illustrate the validity of the designed control scheme, two numerical examples with simulation results are provided.

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Acknowledgements

The work of L. Susana Ramya was supported by Department of Science & Technology, Government of India through Women Scientists Scheme-A under grant no. SR/WOS-A/PM-101/2016.

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Authors and Affiliations

  1. Department of Mathematics, Anna University Regional Campus, Coimbatore, 641046, India

    L. Susana Ramya & A. Leelamani

  2. Department of Applied Mathematics, Bharathiar University, Coimbatore, 641 046, India

    R. Sakthivel

  3. Department of Mathematics, Anhui Normal University, Wuhu, 241000, China

    Yong Ren

  4. Department of Mathematics, Sungkyunkwan University, Suwon, 440-746, South Korea

    Yongdo Lim

Authors
  1. L. Susana Ramya
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  2. R. Sakthivel
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  3. Yong Ren
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  4. Yongdo Lim
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  5. A. Leelamani
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Correspondence to R. Sakthivel.

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Susana Ramya, L., Sakthivel, R., Ren, Y. et al. Consensus of uncertain multi-agent systems with input delay and disturbances. Cogn Neurodyn 13, 367–377 (2019). https://doi.org/10.1007/s11571-019-09525-0

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  • DOI: https://doi.org/10.1007/s11571-019-09525-0

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