A reduction method to consensus control of uncertain multi-agent systems with input delay

This paper addresses the robust consensus control design for uncertain multi-agent systems with input time delay. The Artstein reduction method is employed to deal with the input delay, and an additional integral term of the system state due to model uncertainties are rigorously considered using Krasovskii functional. By exploring certain features of the Laplacian matrix, sufficient conditions for the global consensus under directed communication topology are identified using Lyapunov tools in the time domain. The proposed control only relies on relative state information of the subsystems via network connections. The effectiveness and robustness of the proposed control design is demonstrated through a numerical simulation example.