Predictive Consensus for Networked Multi-Agent Systems with Switching Topology and Variable Delay

This paper investigates consensus problems of networked linear time invariant (LTI) multi-agent systems, subject to variable network delays and switching topology. A new protocol is proposed for such systems with matrix B that has full row rank, based on stochastic, indecomposable, aperiodic (SIA) matrix and the predictive control scheme. With the predictive scheme the network delay is compensated. Consensus analysis based on the seminorm is provided. The conditions are obtained for such systems with periodic switching topology to reach consensus. The proposed protocol can deal with time-varying delays, switching topology, and an unstable mode. The numerical examples demonstrate the effectiveness of the theoretical results.