Cognitive Neurodynamics

, Volume 13, Issue 4, pp 367–377 | Cite as

Consensus of uncertain multi-agent systems with input delay and disturbances

  • L. Susana Ramya
  • R. SakthivelEmail author
  • Yong Ren
  • Yongdo Lim
  • A. Leelamani
Research Article


In this paper, the problem of robust consensus for multi-agent systems affected by external disturbances is discussed. A novel consensus control is developed by using a feedback controller based on disturbance rejection and Smith predictor scheme. Specifically, the disturbance rejection performance of the uncertain multi-agent systems is improved according to the estimation of equivalent-input-disturbance and the effect of time delay in the control system is reduced via Smith predictor scheme by shifting the delay outside the feedback loop. Furthermore, by combining Lyapunov theory, matrix inequality techniques and properties of Kronecker product, a robust feedback controller for each agent is designed such that the desired consensus of the uncertain multi-agent systems affected by external disturbances can be ensured. Finally, to illustrate the validity of the designed control scheme, two numerical examples with simulation results are provided.


Multi-agent systems Consensus Equivalent-input-disturbance Smith predictor 



The work of L. Susana Ramya was supported by Department of Science & Technology, Government of India through Women Scientists Scheme-A under grant no. SR/WOS-A/PM-101/2016.


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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  • L. Susana Ramya
    • 1
  • R. Sakthivel
    • 2
    Email author
  • Yong Ren
    • 3
  • Yongdo Lim
    • 4
  • A. Leelamani
    • 1
  1. 1.Department of MathematicsAnna University Regional CampusCoimbatoreIndia
  2. 2.Department of Applied MathematicsBharathiar UniversityCoimbatoreIndia
  3. 3.Department of MathematicsAnhui Normal UniversityWuhuChina
  4. 4.Department of MathematicsSungkyunkwan UniversitySuwonSouth Korea

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