H∞ Consensus Control of Multi-Agent Systems Subject to Diverse Time-Varying Input Delays via Dynamic Output Feedback

In this paper, we address the problem of leader-following dynamic output-feedback consensus control of general linear multi-agent systems with diverse time-varying input delays under the integral quadratic constraint (IQC) framework. A novel exact-memory distributed delay controller structure is proposed, which utilizes not only the relative estimation state information from neighboring agents, but also the local real-time information of time delays and the associated dynamic IQC-induced states from the agent itself for feedback control. Based on this, the distributed consensus problem can be decomposed into the H∞ stabilization subproblems for a set of independent linear fractional transformation systems, whose dimensions are equal to that of a single agent plant plus the associated local IQC dynamics. Furthermore, new delay control synthesis conditions for each subproblem are fully characterized as linear matrix inequalities, such that the optimal H∞ distributed consensus control solution can be synthesized effectively via convex optimization. A numerical example is used to demonstrate the proposed approach