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Guaranteed consensus performance in second-order networked systems with induced delay

Author(s)
Muhammad Nasir Department of Computer Engineering, University of Lahore,Pakistan
Zahoor Ahmed Department of Automation, Shanghai Jiao tong University, China; Department of Electronics, Government College University, Lahore Pakistan
Muhammad Faisal Hayat Department of Computer Engineering, University of Engineering and Technology,Lahore,Pakistan
Muhammad Ehtasham Tahir Department of Computer Engineering, University of Engineering and Technology,Lahore,Pakistan
Abstract
This work described the performance of consensus control of the second-order networked multi-agent system with CAN bus-induced delay. First, the characteristics of controller area networks (CAN) buses and the main causes of CAN bus induce a delay in distributed networked control systems (DNCS) were analysed. Secondly, DNCS is converted into a model of networked multi-agent systems in the frequency domain. Then based on the designed model of networked multi-agent systems, an analytical H2 controller is proposed for performance tracking. Moreover, a complementary sensitivity function is used to assess the robustness of the proposed controller. In the end, delay margin criteria are derived for the consensus of a networked multi-agent system in the presence of CAN bus-induced delay. The results obtained by simulating the second-order networked multi-agent system verified the usefulness of the proposed control protocol.
Publication Details
Page(s) 87-96
DOI DOI not available
Published Journal: Mehran University Research Journal of Engineering and Technology, Volume: 41, Issue: 3, Year: 2022

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Keywords
Multi-agent Systems Second-order System Complementary Sensitivity Function Controller Parameterization Induced Delay Frequency Domain
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