Adaptive Leader-Following Consensus for a Class of Time Delay Multi-Agent Systems

In this paper, we study the leader-following consensus for multi-agent systems with long input time delay under jointly connected directed switching networks. We adopt an adaptive distributed observer that can make every agent estimate the information of the leader. Then we propose a new controller utilizing the predictor feedback technique, and then map MASs into ODE-PDE (Ordinary differntial equations-Partial differntial equations) target systems so that we can utilize Lyapunov-Krasovskii function to analyze the stability of the MASs. Simulations are used to vertify the results in the end.