Improvement for consensus performance of fractional-order systems with communication delays

In this paper, a new distributed control protocol based on the delayed state and delayed-state-fractional-order-derivative(DSFOD) is introduced into the existing delayed consensus protocol for improving the robustness against communication delays. Based on the frequency-domain analysis and algebra graph theory, it is shown that the new protocol can improve the robustness against communication delays if the intensity of the DSFOD feedback is chosen properly. Finally, a numerical example is presented to demonstrate the effectiveness of the theoretical results.