Leader-Follower Consensus of Second-Order Multiagent Systems with Absent Velocity Measurement and Time Delay

Abstract

The leader-follower consensus problem of second-order multiagent systems with both absent velocity measurement and time delay is considered. First of all, the consensus protocol is designed by introducing an auxiliary system to compensate for the unavailability of the velocity information. Then, time delay is incorporated into the consensus protocol and two cases with, respectively, constant time delay and time-varying delay are investigated. For the case of constant time delay, Lyapunov-Razumikhin theorem is deployed to obtain the sufficient conditions that guarantee the stability of the consensus algorithm. For the case of time-varying delay, the sufficient conditions are also derived by resorting to the Lyapunov-Razumkhin theorem and linear matrix inequalities (LMIs). Various numerical simulations demonstrate the correctness of the theoretical results.

Finite‐time leader–follower consensus control of multiagent systems with mismatched disturbances

“…Its goal is to make the states of every agent reaching an agreement under proper control protocols with local information [8][9][10]. Generally, we can divide the problem of consensus into leaderless consensus [11][12][13] and leader-follower consensus [14][15][16]. As we all know, the convergence rate is performance of the proposed consensus control protocol.…”