Observer-Based Output Consensus of Multi-agent Systems with Input Delay Based on Model Predictive Control

This paper studies the consensus problem of Multi-Agent Systems (MASs) with input-delay using the Model Predictive Control (MPC) approach. Due to challenges such as input delay and communication graph, the traditional MPC is not efficient for the considered systems. In this regard, a novel MPC is developed for MASs with input delay. The main advantage of this paper is to design distributed controllers based on minimizing given cost functions which result in the improvement of the transient responses. For this purpose, first, distributed observers are derived to estimate the leader's states, perfectly. Then, distributed controllers are achieved through the MPC approach. Finally, numerical and practical examples are simulated to affirm the efficiency and applicability of the presented scheme.