Consensus control for high order continuous-time agents with communication delays

This paper is concerned with the consensus control problem for a network of high order linear continuous-time agents subject to communication delays between neighbouring nodes in the network. Departing from the common practice which firstly designs the consensus control under the delay-free assumption and then computes the maximally tolerated communication delay, we propose a new simple technique which allows us to achieve consensus for any communication delay for marginally stable agents. Our approach also achieves consensus for unstable agents, provided the time delay is within a certain range. Our consensus algorithm is designed under the usual assumptions of undirected connectivity for the network. The proposed consensus control law requires communication between neighboring agents only at certain sampling points, rather than at all times. The control law is also unique in the sense that it is nonlinear in the continuous time domain but linear when the agents are viewed in the sampled-data domain. The proposed technique is expected to pave a new way for new theoretical studies on network properties required for consensus control.

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