A Delay Classification-Based Approach to Distributed Consensus of Nonlinear Time-Delay Multiagent Systems

Kuo Li, Choon Ki Ahn, Wei Xing Zheng, Chang Chun Hua

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


—This article investigates the problem of the fixed directed topology-based leader–following consensus control for nonlinear multiagent systems with output delays. Diverging from existing results, this study focuses on large time-varying output delay. Taking this condition into account, a novel delay classification-based distributed output feedback consensus algorithm is developed. First, we divide the output delay into two types through a designed constant and introduce a switching signal to distinguish these two types. Then, we build a distributed compensator for each follower using relevant outputs to reconstitute the leader–following tracking errors. This compensator relies on the output delay and is irrelevant to the nonlinear dynamics of the system. Then, we design a distributed linear controller for each follower with the compensator’s assistance. Subsequently, a new unified Lyapunov–Krasovskii functional is developed to prove that all agents can realize leader–following full-state consensus with the action of the controller. We also provide sufficient conditions to demonstrate the controller’s validity. Finally, a simulation example is supplied to validate the efficiency of our algorithm.

Original languageEnglish
Pages (from-to)6990-6997
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number11
Publication statusPublished - 2023 Nov 1
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2023 IEEE.


  • Distributed compensators
  • distributed output feedback consensus control
  • nonlinear multiagent systems (MASs)
  • time-varying output delays

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications


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