Cooperative output feedback tracking control for multi-agent consensus with time-varying delays and switching topology

Abstract

This paper investigates the consensus tracking problem for leader-following multi-agent systems with general dynamics. The agents that are at most critically unstable and with time-varying delays and arbitrary switching topology are considered in our work. A novel framework for cooperative tracking control with time-varying input delay and communication delay under switching topology is constructed. The distributed observer-based tracking protocol is proposed for desired tracking based on the truncated predictor feedback method, algebraic graph theory and Riccati equation. Moreover, we design the observer gain and feedback gain independent of each other. A simulation example is provided to demonstrate the effectiveness of our proposed method.