Abstract
A state-derivative feedback (SDF) is added into the designed control protocol in the existing paper to enhance the robustness of a fractional-order multiagent system (FMS) against nonuniform time delays in this paper. By applying the graph theory and the frequency-domain analysis theory, consensus conditions are derived to make the delayed FMS based on state-derivative feedback reach consensus. Compared with the consensus control protocol designed in the existing paper, the proposed SDF control protocol with nonuniform time delays can make the FMS with SDF and nonuniform time delays tolerate longer time delays, which means that the convergence speed of states of the delayed FMS with SDF is accelerated indirectly. Finally, the corresponding results of simulation are given to verify the feasibility of our theoretical results.
Highlights
It is well known that the distributed coordination control of multiagent systems has received extensive research attention in various fields including robotics and physics
In order to enhance the robustness of a fractional-order multiagent system (FMS) against nonuniform time delays, a control protocol based on state-derivative feedback (SDF) and nonuniform time delays is introduced in this paper
The consensus problem is investigated for the FMS with SDF and symmetric time delays over undirected topology
Summary
It is well known that the distributed coordination control of multiagent systems has received extensive research attention in various fields including robotics and physics. Fractional-order derivatives and integrals have been studied for a long time, their applications in multiagent systems have just attracted the attention of researchers in recent years. In [22, 23], a distributed consensus protocol based on the delayed state-derivative feedback (SDF) was designed to improve the robustness against communication delays, which were identical. We add a SDF into the designed control protocol to enhance the robustness of a FMS against nonuniform time delays.
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