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Output Consensus Robustness and Performance of First-Order Agents
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  • Tian Qi,
  • Hui Peng,
  • Yanling Ding,
  • Jie Chen
Tian Qi
South China University of Technology Key Laboratory of Autonomous Systems and Network Control Ministry of Education

Corresponding Author:[email protected]

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Hui Peng
Guangdong University of Technology School of Automation
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Yanling Ding
City University of Hong Kong Department of Electrical Engineering
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Jie Chen
City University of Hong Kong Department of Electrical Engineering
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In this paper, we study consensus robustness and performance problems for continuous-time multi-agent systems. We consider first-order unstable agents interconnected by an undirected graph, coordinated by a delayed output feedback protocol. Our objectives are twofold. First, we seek to determine the largest range of delay permissible so that the agents may achieve robustly consensus despite variation of the delay length, herein referred to as the delay consensus margin. Second, we attempt to determine consensus error performance quantified under an H 2 norm criterion, which measures the disruptive effect of random nodal noises on consensus. For both problems, we obtain analytical solutions. The explicit expressions provide conceptual insights and exhibit how the agents' unstable pole, nonminimum phase zero, as well as the network topology may limit fundamentally the consensus robustness and performance.
22 Aug 2023Submitted to International Journal of Robust and Nonlinear Control
22 Aug 2023Submission Checks Completed
22 Aug 2023Assigned to Editor
22 Aug 2023Review(s) Completed, Editorial Evaluation Pending
22 Aug 2023Reviewer(s) Assigned
04 Oct 2023Editorial Decision: Revise Minor
05 Nov 20231st Revision Received
09 Nov 2023Submission Checks Completed
09 Nov 2023Assigned to Editor
09 Nov 2023Review(s) Completed, Editorial Evaluation Pending
09 Nov 2023Reviewer(s) Assigned