Guaranteed consensus performance in second-order networked multi-agent systems with induced delay

  • Muhammad Nasir Department of Computer Engineering, University of Lahore, Pakistan
  • Zahoor Ahmed Department of Automation, Shanghai Jiao tong University, China. Department of Electronics, Government College University, Lahore Pakistan
  • Muhammad Faisal Hayat Department of Computer Engineering, University of Engineering and Technology, Lahore Pakistan
  • Muhammad Ehtasham Tahir Department of Computer Engineering, University of Engineering and Technology, Lahore Pakistan
DOI: https://doi.org/10.22581/muet1982.2203.09

Abstract

This work described the performance of consensus control of the second-order networked multi-agent system with CAN bus-induced delay. First, the characteristics of controller area networks (CAN) buses and the main causes of CAN bus induce a delay in distributed networked control systems (DNCS) were analysed. Secondly, DNCS is converted into a model of networked multi-agent systems in the frequency domain. Then based on the designed model of networked multi-agent systems, an analytical H2 controller is proposed for performance tracking. Moreover, a complementary sensitivity function is used to assess the robustness of the proposed controller. In the end, delay margin criteria are derived for the consensus of a networked multi-agent system in the presence of CAN bus-induced delay. The results obtained by simulating the second-order networked multi-agent system verified the usefulness of the proposed control protocol.

Published
2022-07-01
Issue
Vol. 41 No. 3 (2022): July issue
Section
Articles
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