Output Feedback Consensus of Nonlinear Multi-Agent Systems under a Directed Network with a Time Varying Communication Delay

Sungryul LEE  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E101-A   No.9   pp.1588-1593
Publication Date: 2018/09/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E101.A.1588
Type of Manuscript: LETTER
Category: Systems and Control
output feedback consensus,  nonlinear multi-agent systems,  directed network,  communication delay,  

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The output feedback consensus problem of nonlinear multi-agent systems under a directed network with a time varying communication delay is studied. In order to deal with this problem, the dynamic output feedback controller with an additional low gain parameter that compensates for the effect of nonlinearity and a communication delay is proposed. Also, it is shown that under some assumptions, the proposed controller can always solve the output feedback consensus problem even in the presence of an arbitrarily large communication delay.