Scaled consensus of multi-agent systems under time delay

Ebrahimkhani E., Hashemzadeh F.

2018 Australian and New Zealand Control Conference, ANZCC 2018, Melbourne, Australia, 7 - 08 December 2018, pp.216-221 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/anzcc.2018.8606569
  • City: Melbourne
  • Country: Australia
  • Page Numbers: pp.216-221
  • Istanbul Technical University Affiliated: No


In this paper, the scaled consensus of multi-agent systems under constant time delay has been studied. Two cases have been considered: 1) The case where all agents receive their states and those of their neighbors' with a constant delay, and 2) the challenging case where agents can access their own states without delay, but they receive the states of their neighbors with a delay. We check the stability using a Lyapunov-Krasovskii approach. It is also shown that for the second case, the final values of the states depend on the value of delay and scaling adjustable parameters. Finally, the results of this work are validated through simulations.