Global Consensus of MASs with Heterogeneous Input Delays

This paper focuses on consensus control of multi-agent systems subject to heterogeneous input delays. Based on predictor-based state transformation and distributed predictive descriptor observer design, finite-dimensional state feedback consensus controller is constructed for each agent. By using the Jordan form of the Laplacian matrix and the Lyapunov-Krasovskii functionals, a set of delay-indenpendent conditions are identified under which the consensus problem can be solved even the delays are heterogeneous and arbitrarily large. In addition, under the proposed method, the exact delay values or the delay upper bound informations are not necessarily needed. Heterogeneous delays are considered in this paper and the exact delay information or the delay upper bounds are not necessarily needed.