Robust consensus of second-order multi-agent systems with input and time-varying communication delays

摘要

In this paper, the robust consensus problem of second-order multi-agent systems with constant input delays and time-varying communication delays is investigated. By using the neighbour-based rule, a novel non-linear consensus protocol is introduced to realise local control strategies for the second-order continuous-time multi-agent systems. Firstly, based on a model transformation, the multi-agent systems with input delays are transformed into delay-free ones. Secondly, based on Lyapunov-Krasovskii function, consensus conditions are obtained to guarantee that the position and velocity of all agents can achieve consensus asymptotically. In addition, the robust consensus of multi-agent systems with weight perturbations on communication network is also studied. It is shown that the consensus conditions are independent of input delays. Finally, the proposed non-linear consensus protocol is extended to solve the formation problem of multiple non-holonomic mobile robots. Simulation results are presented to validate the analysis.