Consensus tracking control of leader-follower multi-agent systems based on the networked predictive control scheme

This paper investigates the problem of consensus tracking for discrete-time networked multi-agent systems (N-MASs), where information is exchanged through a network with a constant communication delay. Based on output feedback, observer and the networked predictive control scheme, a novel consensus protocol is proposed to compensate for the communication delay actively and follow the track of the external reference. For NMASs with a directed topology and a constant delay, a necessary and sufficient condition for the consensus is given. An numerical simulation is given to validate the theoretical results.