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Consensus of Multi-agent Systems with Feedforward Nonlinear Dynamics and Digraph

Shuzhen Yu, Haijun Jiang*, Zhiyong Yu, and Cheng Hu
International Journal of Control, Automation, and Systems, vol. 16, no. 4, pp.1512-1520, 2018

Abstract : "This paper considers a high-order consensus problem of multi-agent system with feedforward nonlinear and time-varying input delay in a directed network. In order to achieve the consensus, we propose a low gain distributed protocol which can get rid of impacts of feedforward nonlinearity and an arbitrarily bounded input delay on the consensus problem. Moreover, for any upper bound time-varying delay and strongly connected diagraph, the proposed controller can solve the consensus problem of multi-agent systems with feedforward nonlinearity if the designed parameter q is great than the threshold value. Finally, several numerical simulations are presented to demonstrate the validity of the theoretical results."

Keyword : Directed network, feedforward, high-order consensus, input delay, nonlinear multi-agent systems.

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