ABSTRACT
In this chapter, the consensus problem for linear multi-agent systems with general directed graph in the presence of constant input delay and external disturbances is addressed. To deal with input delay, a truncated prediction of the agent state over the delay period is approximated by the finite dimensional term of the classical state predictor. The objective of this chapter is to design a control algorithm for each agent such that the multi-agent systems achieve consensus and meanwhile maintain a desirable disturbance rejection performance. In this chapter, a simulation study is carried out to demonstrate the effectiveness of the proposed control design. In this chapter, the authors have addressed the H∞ consensus problem for linear multi-agent systems with input delay and general directed graph. This chapter only requires the connection graph to have a spanning tree.
