Distributed Consensus Tracking of Multi-Agent Systems with Time-varying Input/Output Delays and Mismatched Disturbances

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This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with bounded time-varying input/output delays and mismatched disturbances under a directed communication graph containing a spanning tree. First, a part of the mismatched disturbances is transformed into the input channel as the matched disturbance, that allows the deployment of a predictive extended state observer (ESO) in order to estimate the consensus tracking error and transformed matched disturbance simultaneously. Subsequently, the ESO is used for designing a controller. The stability of the closed-loop system is guaranteed via a Lyapunov-Krasovskii functional with sufficient conditions in terms of delay-dependent linear matrix inequalities (LMIs). An additional LMI is proposed which, in conjunction with the rest of LMIs, results in a solution with a larger upper bound on delays than what would be feasible without it. The efficacy of the proposed scheme is demonstrated via simple numerical examples.

Original languageEnglish
Pages (from-to)787-794
Number of pages8
Issue number9
Publication statusPublished - 16 Jul 2021
MoE publication typeA4 Article in a conference publication
EventInternational Symposium on Mathematical Theory of Networks and Systems - Cambridge, United Kingdom
Duration: 23 Aug 202127 Aug 2021
Conference number: 24


  • Linear matrix inequalities
  • Mismatched disturbances
  • Multi-agent systems
  • Predictive extended state observer
  • Time-varying delays


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