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Mathematical Problems in Engineering
Volume 2017, Article ID 4063184, 11 pages
Research Article

Consensus Control for a Multiagent System with Time Delays

1Department of Mechanical Engineering, Graduate School of Science and Engineering, Tokyo Metropolitan University, 1-1 Minami-Osawa, Hachioji-shi, Tokyo 192-0397, Japan
2Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600MB Eindhoven, Netherlands

Correspondence should be addressed to Yiran Cao;

Received 2 September 2016; Revised 14 December 2016; Accepted 26 December 2016; Published 28 February 2017

Academic Editor: Olfa Boubaker

Copyright © 2017 Yiran Cao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In this paper, we consider the consensus control problem for a multiagent system (MAS) consisting of integrator dynamics with input and output time delays. First, we investigate a consensus condition for the MAS with a linear controller and without any delay compensation. We then propose a consensus controller with a state predictor to compensate the effect of time delay. The consensus condition for this controller is derived and investigated. Finally, we present an example of solving the consensus control problem for two-wheel mobile robots with feedback loops that pass through a computer network with time delays. To demonstrate the validity of the predictor-based controller, we conduct experiments with two-wheel mobile robots and present the results.