Minimize the prediction error in external consensus problem using gain error ratio formula

Abstract

This paper discusses the external consensus problem for non-identical networked multi-agent systems (NMAS) with network data loss, considering uniform consecutive data losses (CDL) induced by long periods of transmission failure. A gain error ratio (GER) formula is proposed to determine the appropriate value of coupling gain between agents in order to minimize the computed prediction error caused by the prediction process. Consequently, the consensus performance with prediction control strategy can be improved. The effectiveness of the proposed formula is demonstrated through simulation.