Resilient Consensus Control for Networked Lagrangian Systems With Constant Time Delay and External Disturbance

In this paper, we consider the resilient consensus control problem of networked Lagrangian systems subject to constant time delay and external disturbance. A resilient local controller only using the neighbouring information is proposed. By adding a sliding-mode-like term in the distributed controller, the effect of the external disturbances can be restrained. In addition, the proposed model-independent consensus controller also has constant delay tolerance. Comparing with existing approaches, the proposed control method is model-independent and resilient to constant time delay and external disturbances. Finally, the effectiveness of the proposed resilient controller is verified by using simulation results.