Fast consensus tracking of multiagent systems with diverse communication delays and input delays (Q1717961)

Summary: The consensus tracking problem for discrete-time multiagent systems with input and communication delays is studied. A sufficient condition is obtained over a directed graph based on the frequency-domain analysis. Furthermore, a fast decentralized consensus tracking conditions based on increment \textit{PID} algorithm are discussed for improving convergence speed of the multiagent systems. Based on this result, genetic algorithm is introduced to construct increment \textit{PID} based on genetic algorithm for obtaining optimization consensus tracking performance. Finally, a numerable example is given to compare convergence speed of three tracking algorithms in the same condition. Simulation results show the effectiveness of the proposed algorithm.