Consensus of Nonlinear Multi-Agent Systems with an Arbitrary Communication Delay

Sungryul LEE  

IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E98-A   No.9   pp.1977-1981
Publication Date: 2015/09/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E98.A.1977
Type of Manuscript: LETTER
Category: Systems and Control
consensus,  nonlinear multi-agent systems,  communication delay,  

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This letter deals with the consensus problem of multi-agent systems, which are composed of feedforward nonlinear systems under a directed network with a communication time delay. In order to solve this problem, a new consensus protocol with a low gain parameter is proposed. Moreover, it is shown that under some sufficient conditions, the proposed protocol can solve the consensus problem of nonlinear multi-agent systems even in the presence of an arbitrarily large communication delay. An illustrative example is presented to verify the validity of the proposed approach.