Predictor-based consensus control of a multi-agent system with time-delays

In this paper, we consider the consensus control problem for a multi-agent system (MAS) consisting of integrator dynamics with input and output time delays. First we investigate a consensus condition for the MAS with a linear controller without any delay compensation. After that, we propose a consensus controller with a state predictor to decrease the effect of time delay. The consensus condition for this controller is derived and the advantages are discussed. Finally we show an example of solving the consensus control problem for two-wheel mobile robots which have feedback loops that pass through a computer network with time delays. By comparing the two different controllers, we show the advantages and disadvantages of each controller.