Consensus problem of high-order multi-agent systems under predictor-based algorithm

For the multi-agent systems with agent´s dynamics described by high-order integrator, and usual consensus algorithm composed of the states´ coordination control parts is proposed. Under communication delay, consensus algorithm in asynchronously-coupled form just can make the agents achieve a stationary consensus, and sufficient consensus condition is obtained based on frequency-domain analysis. To regain the original consensus state of high-order multi-agent systems without communication delay, besides, a predictor-based consensus algorithm is constructed via multiplying the delayed neighboring agents´ states by a delay-related compensation part, and sufficient consensus condition is also obtained. Simulation illustrates the correctness of the results.