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Leader-Follower Scaled Consensus of Nonlinear Time-Varying Delay Multi-Agent Systems via Time-Delay Classification and Sampled-Data Output Feedback
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DOI：10.1016/j.jfranklin.2026.108702.png)
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Abstract
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This paper investigates the leader-follower scaled consensus control problem for a class of high-order nonlinear multi-agent systems (MASs) under a fixed directed topology, where both sampled-data feedback and large time-varying output delays (LVODs) are present. In many practical networked systems, large output delays caused by sensing, transmission, and computation cannot be neglected, while most existing results are limited to small-delay cases, which restricts their applicability. First, to address the large output delay in the system, a distributed output feedback control protocol based on time-delay classification is proposed. By introducing a constant threshold, the delays are classified into two categories, and a corresponding time-delay switching system model is constructed. Next, based solely on the sampled-data output information, a distributed compensator independent of nonlinear dynamics is designed for each follower to reconstruct the leader-follower scaled consensus error, from which a scaled consensus protocol is constructed. Then, by combining switching system theory with time-delay classification analysis, it is rigorously proved that all follower states can asymptotically track the leader’s state in a predefined proportion. The proposed method explicitly accommodates LVODs, thereby significantly reducing the conservatism of existing approaches. Finally, numerical simulations on a nonlinear robotic arm system verify the effectiveness of the proposed protocol.
Keywords:
Scaled Consensus
Time-Varying Delays
Multi-Agent Systems
Sampled-Data Control
Output Feedback
Journal
J
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4.2
Papers:
812
Citations:
0
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