Observer-Based Consensus Control of Multi-Agent Systems with Input Delay

In this paper, the leader-follower consensus problem of multi-agent systems with input delay is discussed with observer-based protocol. Firstly, a distributed state observer is introduced to estimate the state of each agent by using the relative output information between neighbors. Secondly, based on the truncated prediction approach, the consensus algorithm is proposed by utilizing the estimated state information. The sufficient conditions are constructed by Lyapunov stability theory and then solved by a set of linear matrix inequalities (LMIs) with iterative parameters. Finally, a simulation example is given to verity the effectiveness of the proposed algorithm.