Robustness to delay mismatch in consensus control under undirected graphs

Abstract

This paper studies predictor-based adaptive consensus control of network-connected systems with unknown delays under undirected graphs. The approach is based on the representation of the delay state as a transport partial differential equation (PDE) and the utilization of a nonadaptive estimation delay state. Using the relative information of neighboring nodes, we propose a fully distributed adaptive consensus protocol, which is proven to achieve global consensus provided that the delay mismatch is within a small region. Simulation results performed on a group of neutrally stable systems are presented to illustrate the effectiveness of the proposed scheme.