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Abstract
This letter studies the consensus tracking control for multiagent systems (MASs) of general linear dynamics considering heterogeneous constant known input and communication delays under a directed communication graph containing a spanning tree. First, for openloop stable MASs, a distributed predictive observer is proposed to estimate the consensus tracking error and to construct the control input that does not involve any integral term (which is timeefficient in calculation). Then, using the generalized Nyquist criterion, we derive the conditions for asymptotic convergence of the closedloop system and show that is delayindependent. Subsequently, another observer is designed that allows the MASs to be openloop unstable. Next, we use the generalized Nyquist criterion to compute the observer's gain matrix. Towards this end, we choose a specific structure with which the problem boils down to computing a single parameter, herein called the predictive observer parameter. Two algorithms are proposed for choosing this parameter: one for general linear systems and one for monotone systems. To the best of the authors' knowledge, this is the first work for which asymptotic convergence of consensus is proven for general linear MASs with arbitrary heterogeneous delays. Finally, the validity of our results is demonstrated via a vehicle platooning example.
Original language  English 

Article number  9130792 
Pages (fromto)  851856 
Number of pages  6 
Journal  IEEE Control Systems Letters 
Volume  5 
Issue number  3 
DOIs  
Publication status  Published  Jul 2021 
MoE publication type  A1 Journal articlerefereed 
Keywords
 Consensus
 Delayindependent stability
 Generalized Nyquist criterion
 Heterogeneous delays
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 1 Active

Codesign of control and communication systems for wireless networked control systems
Charalambous, T., Royyan, M. & Farjam, T.
01/09/2018 → 31/08/2023
Project: Academy of Finland: Other research funding