Abstract
This technical note investigates the problem of consensus for discrete-time networked multi-agent systems (NMASs), where information is exchanged through the network with a communication delay. Based on the networked predictive control scheme and the dynamic output feedback, a novel distributed protocol is proposed to compensate for the network delay actively. For NMASs with a directed topology and non-uniform agents, sufficient conditions of the consensus are obtained. A numerical simulation demonstrates effectiveness of the proposed theoretical results.
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