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

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
Jul 1, 2022
How to Cite
NASIR, Muhammad et al. Guaranteed consensus performance in second-order networked multi-agent systems with induced delay. Mehran University Research Journal of Engineering and Technology, [S.l.], v. 41, n. 3, p. 94-103, july 2022. ISSN 2413-7219. Available at: <https://publications.muet.edu.pk/index.php/muetrj/article/view/2513>. Date accessed: 16 aug. 2022. doi: http://dx.doi.org/10.22581/muet1982.2203.09.
Section
Articles
This is an open Access Article published by Mehran University of Engineering and Technolgy, Jamshoro under CCBY 4.0 International License