Consensus control of multi-agent systems with input and communication delay: A frequency domain perspective.

This paper describes consensus control of multi-agent systems (MAS) with input and communication delay in the frequency domain. Each agent of MAS is a linear continuous-time system. The considered linear dynamic model of each agent involves multiple input delays. An H controller is proposed for optimal performance and robustness of the MAS. The internal stability approach is employed to compute the H controller and the performance index of the overall MAS. A sufficient criterion is derived for gain and delay margin to reach convergence. The simulation paradigm shows the effectiveness of the proposed control scheme.