Abstract
This paper considers observer–predictor feedback for delay compensation in consensus control under undirected switching graphs. Each node involved in the network is described by a linear system with an actuator delay of uncertain length, and the connection graph is allowed to be unknown and switch arbitrarily. An observer is proposed to estimate the disagreement state using locally available information, and a delay-adaptive consensus protocol is proposed via observer–predictor feedback. With the employment of a “backstepping” state transformation involving the observer state and the estimation delay state, an explicit Lyapunov function is constructed to prove the consensus and stability properties of the resultant closed-loop system. Numerical simulations are presented to demonstrate the effectiveness of the theoretic results.
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