Leader-following consensus control of multi-agent systems with communication delays & random packet loss

Abstract

The objective of this paper is to develop a novel consensus control algorithm for multi-agent systems (MAS) experiencing constant and time-varying communication delays along with random packet data loss. The topology of the communication network of the system is modeled by an algebraic graph theory. The multi-agent dynamics is based on double integrator systems in discrete time domain. Bernoulli distribution principle is applied to system dynamics in order to deal with the uncertain packet data loss. The sufficient conditions for the stabilization of controller are formed by using Lyapunov-based methodologies and linear matrix inequalities (LMIs) techniques. The feasibility of the generated LMIs are analyzed to verify the stability of controller design. The control gain of the system is calculated if the solution of LMIs lie within the feasibility region, which ensures the MAS to achieve consensus. Simulation results with three agents are shown to verify the consensus of the proposed system.