Consensus Problem in Lipschitz Multiagent Systems in the Presence of Input Delay and External Disturbances

This paper investigates the consensus problem in Lipschitz multiagent systems in the presence of input delay and external disturbances. For this purpose, two consensus protocols are proposed based on a future state predictor and a finite time estimator that ensure achieving consensus in a group of agents in the presence of input delay and external disturbances. Finally, the effectiveness of the suggested algorithms is demonstrated by simulation results.