Implementation of predictive controllers for NMAS consensus with neighhour agent delay

This paper discusses the implementation of a prediction algorithm in solving an external consensus problem for heterogeneous networked multi-agent systems (NMAS) with asymmetric network-induced communication delay. By considering different networked-induced delays for each information passing route between agents, an output predictor based on the recursive equation is developed. The developed strategy is simulated with a single-input single-output (SISO) NMAS model and validated through practical experiments with water level test rigs under intranet network connections.