In this paper we study the leader following consensus problem for linear multi-agent systems and a class of nonlinear ones with bounded disturbances and non-uniform and arbitrarily large communication delays on both directed and undirected graphs. In the linear case we solve for the first time the leader-following consensus problems in presence of arbitrarily large, non-uniform and time-varying communications delay on generic connected graphs. The approach is fully distributed and it is based on a suitable weighting modification of the network links and on an output feedback chain of predictors.
Leader-following consensus with non-uniform and large communication delays / Battilotti, Stefano; Cacace, Filippo; Califano, Claudia; D'Angelo, Massimiliano. - In: IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS. - ISSN 2325-5870. - (2023).
Leader-following consensus with non-uniform and large communication delays
Stefano Battilotti
;Claudia Califano;Massimiliano d'Angelo
2023
Abstract
In this paper we study the leader following consensus problem for linear multi-agent systems and a class of nonlinear ones with bounded disturbances and non-uniform and arbitrarily large communication delays on both directed and undirected graphs. In the linear case we solve for the first time the leader-following consensus problems in presence of arbitrarily large, non-uniform and time-varying communications delay on generic connected graphs. The approach is fully distributed and it is based on a suitable weighting modification of the network links and on an output feedback chain of predictors.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.