1 / 2018-06-04 22:44:09

Leaderless consensus of Nonlinear Multi-agent Systems with Input Delay via Observer-based Truncated Prediction Feedback

Input Delay,Multi-agent Systems,consensus,Input Delay,Truncated Prediction Feedback,state observer

This paper investigates leaderless consensus control of Lipschitz nonlinear multi-agent systems with input delay. For such systems, observer-based truncated prediction feedback protocols are designed via discarding the distributed term and remaining the exponential term of the solution of the system equation. A sufficient condition for achieving leaderless consensus is established using Lyapunov-Krasovskii functional method. The observer and controller gains are then obtained by means of an iterative linear matrix inequality procedure. A simulation study verifies the effectiveness of the proposed control design.