Using Memoryless Dual Observers for Tracking Consensus in Multi-Agent Systems with Input and Output Delays

This paper focuses on the problem of dual-observer-based trajectory tracking of the leader for multi-agent systems(MASs) with delays in both inputs and outputs. Through the model reduction method, the system can be transformed into an equivalent linear system without delays, allowing for the design of a dual-observer-based stabilizing controller. This controller is memory-based. To address this issue, an improved memoryless dual-observer-based stabilizing controller is designed, and it is proven that the trajectory of the leader can be tracked under certain additional conditions. This design method is more challenging in achieving the trajectory tracking of the leader, for example, requiring the construction of a more complex Lyapunov-Krasovskii function. Numerical simulations verify the effectiveness of the proposed method.