Distributed robust output consensus for linear multi-agent systems with input time-varying delays and parameter uncertainties

摘要

This study addresses the leader-tracking problem for linear multi-agent systems in the presence of both parameter model uncertainties and time-varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional-integral-derivative control is proposed and the overall closed-loop stability is proven by exploiting the Lyapunov-Krasovskii theory. Delay-dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.