External Consensus in Networked Multi-Agent Systems with Random Network Delay

In this paper, the implementation of a prediction algorithm in solving an external consensus problem for heterogeneous networked multi-agent systems (NMAS), with bounded random network-induced delay is presented. In this work, a delay measurement signal generator (DMSG) is implemented; hence the random network delay is determined and compensated successfully. The developed strategy is simulated with single-input single-output (SISO) models for two dissimilar agents and validated through practical experiments with two different water level test rigs under intranet network connection. From the results obtained, the proposed controller shows promising results compared to the previous predecessor.