This article describes the consensus control issue of networked multi-agent system with controller area network bus–induced delay in the frequency domain. Initially, causes of the controller area network bus–induced delay in distributed networked control systems and features of controller area network buses are analyzed. Then, networked multi-agent systems composed of distributed networked control systems are modeled in the frequency domain. An analytical controller based on the parameterization technique is proposed to improve the H2 performance criterion of distributed networked control systems. The performance tracking and robustness of the controller is analyzed by its sensitivity functions. After the performance and robustness analysis, the delay margin criteria and consensus conditions of networked multi-agent systems are derived in the existence of controller area network bus–induced delay. We verify the efficiency of the proposed method by simulating examples.
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