Robust consensus of heterogeneous multiagent systems with switching topologies: A time-delay case

The robust leader-following consensus of heterogeneous multiagent systems under switching communication topologies is investigated in this paper. Especially, the input delay is considered in each follower. In order to access the information of leader through time-varying communication, a type of distributed dynamic compensator is proposed for every follower firstly, which get rid of the dependence on the global spectrum information and is proved that it can be viewed as a asymptotic observer of the leader. Then combined with the internal model principle, two types of distributed control law are proposed based on the compensator. By applying the truncated predictor feedback scheme to synthesize the closed-loop systems, it is proved that the consensus can be achieved by both of the control laws despite the existence of the input delay and the plant parameters perturbations. Finally, numerical simulations are illustrated to demonstrate the results.