A Class of Second-Order Consensus Protocol in Multi-Agent Systems with Multiple Input Delays
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This paper is concerned with the consensus problems for second-order multi-agent systems with multiple input delays. Different from all standard consensus algorithms with uniform delays, the authors aim to find the largest input-delay margin which can guarantee the consensus for the case when delays are nonuniform. Based on frequency domain analysis and matrix theory, an upper bound for maximum tolerable input-delay is given in terms of the relationship with scaling strengths and largest eigenvalue of the Lapalician matrix. Simulation results are provided to illustrate the obtained results.
KeywordsConsensus multiple input delays second-order multi-agent systems
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