Output consensus for heterogeneous multi-agent systems over feedback graphs involving time delays

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Conference Proceeding

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The output consensus control is studied, and a feedback control protocol is proposed for finitedimensional linear time-invariant continuous-time heterogeneous multi-agent systems (MASs) over the connected feedback topologies involving time delays. Our control protocol makes use of only relative information from the neighboring agents, and our objective is synchronization of the outputs of all the dynamic agents to the desired trajectory generated by some reference model. Time delays are assumed to be present for each agent to receive information from the neighboring agents and from the exo-system of the reference model, leading to the graph topology involving time delays. It is shown that distributed stabilization and asymptotic synchronization can both be achieved in the presence of time delays in the feedback topology regardless of the delay length. The effectiveness of our proposed feedback control protocol is illustrated by a numerical example.

Publication Source (Journal or Book title)

2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

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