This paper considers a consensus control of a general linear multi-agent system with time-varying communication delays. Since each agent can only use the relative output information from its neighbors, a reduced-order observer-based control protocol is proposed to guarantee consensus on the directed communication network. The stability of the closed-loop system is analyzed for the cases with uniform delays and nonuniform time-varying delays, respectively. Moreover, the upper bounds of the communication delays are obtained respectively for the two cases. Finally, two numerical examples are provided to illustrate the proposed theoretical results.
|Journal||Transactions of the Institute of Measurement and Control|
|State||Accepted/In press - 2020|
- Consensus problem
- directed communication network
- distributed reduced-order observer
- linear multi-agent system
- nonuniform time delay