Distributed control for nonlinear time-delayed multi-agent systems with connectivity preservation using neural networks

Abstract

Nonlinear time-delayed multi-agent systems with connectivity preservation are investigated in this paper. For each agent, the distributed controller is divided into five different parts which are designed to meet the requirements of the nonlinear time-delayed multi-agent systems, such as preserving connectivity, learning the unknown dynamics, eliminating time delays and reaching consensus. In addition, a σ-function technique is utilized to avoid the singularity in the developed distributed controller. Finally, simulation results demonstrate the effectiveness of the developed control protocol.