Consensus control of multi-agent systems with input and communication delay: A frequency domain perspective

This paper describes consensus control of multi-agent systems (MAS) with input and communication delay in the frequency domain. Each agent of MAS is a linear continuous-time system. The considered linear dynamic model of each agent involves multiple input delays. An H-2 controller is proposed for optimal performance and robustness of the MAS. The internal stability approach is employed to compute the H-2 controller and the performance index of the overall MAS. A sufficient criterion is derived for gain and delay margin to reach convergence. The simulation paradigm shows the effectiveness of the proposed control scheme. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.