Abstract
This paper concentrates on investigating the consensus for general second-order linear multiagent systems subjected to time-varying delay. Initially, a novel PIDD-like consensus control protocol with time-varying delay is designed, which includes information on position and its integration, as well as velocity and its differentiation. Subsequently, based upon model transformation, the consensus problem is transformed into the asymptotic stability of the error system. Through constructing of a novel augmented vector Lyapunov-Krasovskii functional, including delay-product terms and multiple integral terms, and then by adopting auxiliary-function-based integral inequalities and the delay-dependent-matrix-based reciprocally convex inequality to address the derivative of the constructed functional, the less conservative consensus conditions for multi-agent systems are obtained. Additionally, numerical simulations are given to demonstrate that the presented consensus conditions not only ensure the consensus of position and velocity states but also exhibit better dynamic performance.
Published Version
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