Consensus of Multi-Agent Systems under Unbounded Communication Delays Via Adaptive Distributed Observers

Cong Bi, Xiang Xu,Lu Liu, Gang Feng

IEEE Transactions on Control of Network Systems（2025）

College of Artificial Intelligence | Department of Electrical Engineering | Department of Biomedical Engineering

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Abstract

This paper considers the leader-following consensus problem of multi-agent systems subject to unbounded distributed communication delays under an condition that only the neighboring agents of the leader have access to the information on both the system matrix and the state of the leader. A novel adaptive distributed observer is proposed to estimate both the system matrix and the state of the leader under unbounded distributed communication delays, without requiring that the information of the unbounded delays is known a priori . A key technical result is firstly established and a novel distributed controller is then developed based on the proposed distributed observer. It is shown that the resulting closed-loop system achieves the desired consensus. Finally, the effectiveness of the theoretical results is validated by two simulation examples.

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Key words

Adaptive distributed observers,leader-following consensus,multi-agent systems,unbounded communication delays

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【要点】：本文针对具有无限分布式通信延迟的多代理系统，提出了一种新颖的自适应分布式观测器，实现了领导-跟随共识问题，创新性地无需预先知晓延迟信息即可估计系统矩阵和领导者状态。

【方法】：作者设计了一种自适应分布式观测器，能够在无需先验延迟信息的情况下，估计系统矩阵和领导者的状态，并基于此观测器开发了一种新的分布式控制器。

【实验】：通过两个仿真示例验证了理论结果的有效性，但论文中未提及具体的数据集名称。