Consensus control for a multiagent system with time delays

Yiran Cao, Toshiki Oguchi, Paul Verhoeckx, Henk Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

6 Citations (Scopus)
101 Downloads (Pure)


In this paper, we consider the consensus control problem for a multiagent system (MAS) consisting of integrator dynamics with input and output time delays. First, we investigate a consensus condition for the MAS with a linear controller and without any delay compensation. We then propose a consensus controller with a state predictor to compensate the effect of time delay. The consensus condition for this controller is derived and investigated. Finally, we present an example of solving the consensus control problem for two-wheel mobile robots with feedback loops that pass through a computer network with time delays. To demonstrate the validity of the predictor-based controller, we conduct experiments with two-wheel mobile robots and present the results.

Original languageEnglish
Article number4063184
Number of pages11
JournalMathematical Problems in Engineering
Publication statusPublished - 1 Jan 2017


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