Pseudo-Predictor Feedback Control for Multiagent Systems with Both State and Input Delays

This paper is concerned with the consensus problem for high-order continuous-time multiagent systems with both state and input delays. A novel approach referred to as pseudo-predictor feedback protocol is proposed. Unlike the predictor-based feedback protocol which utilizes the open-loop dynamics to predict the future states, the pseudo-predictor feedback protocol uses the closed-loop dynamics of the multiagent systems to predict the future agent states. Full-order/reduced-order observer-based pseudo-predictor feedback protocols are proposed, and it is shown that the consensus is achieved and the input delay is compensated by the proposed protocols. Necessary and sufficient conditions guaranteeing the stability of the integral delay systems are provided in terms of the stability of the series of retarded-type time-delay systems. Furthermore, compared with the existing predictor-based protocols, the proposed pseudo-predictor feedback protocol is independent of the input signals of the neighboring agents and is easier to implement. Finally, a numerical example is given to demonstrate the effectiveness of the proposed approaches.