Scaled consensus for multi-agent systems with communication time delays

Abstract

This paper aims to solve the scaled consensus problem of general linear multi-agent systems with non-uniform time-varying communication time-delay. The proposed consensus protocol is based on the low gain solution of a parametric algebraic Riccati equation. Based on the proposed consensus protocol, we obtain the sufficient condition for scaled consensus of multi-agent systems with communication time-delay. The results reveal that the upper bound of time-delay can be arbitrarily large if all poles of the system are zero. For the case of non-zero poles on the imaginary axis, the maximal admissible upper bound of the time-varying delay is provided. Simulation results are performed to demonstrate the scaled consensus performance of multi-agent systems.