Consensus of networked multi-agent systems with communication delay compensations

This paper discusses the consensus problem of networked multi-agent systems subjected to communication delays. Different from the robust control design, the accessible delay information among agents are exploited to compensate the delay effect on consensus. Two delay compensation schemes are proposed to improve the convergence of consensus and delay-dependent sufficient conditions in terms of linear matrix inequality are obtained to verify the consensus. Finally, numerical simulations are provided to demonstrate the effectiveness of theoretical results.