An external consensus protocol design for heterogenous multiply processes with predictive control scheme

This paper provides prediction method to solve the external consensus problem for heterogeneous networked multi agent system (NMAS) with network delay. The proposed prediction strategy is based on transfer function and designed by adopting the recursive equation on the proposed consensus protocol. The consensus protocol developed in this work does not rely on the initial value of the agents´ output but totally depends on the external input given to one of the agents in NMAS. By considering low-order multi process control system agents, the proposed strategy is simulated and validated through experimental work via intranet networked controller board with constant network delay.