Consensus Control of Linear Multi-Agent Systems with Non-uniform Time-varying Communication Delays

TL;DR

This paper addresses the consensus problem in high-order linear multi-agent systems with non-uniform, time-varying communication delays, proposing a distributed control protocol and a delay-dependent stability criterion.

Contribution

It introduces a novel distributed control protocol and stability analysis method for multi-agent systems with complex delay patterns.

Findings

Guarantees state consensus under specified conditions.

Provides a delay-dependent stability criterion.

Uses Lyapunov-Krasovskii and LMI methods for analysis.

Abstract

This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and the communication delays between the agents are non-uniform and time-varying. We design a distributed control protocol for the agents and provide an equivalent stability problem to be solved that guarantees the state consensus in the group of agents. Moreover, a delay-dependent stability criterion is provided by combining the Lyapunov-Krasovskii method with the linear matrix inequality approach.