This chapter considers time delays in distributed multi-agent coordination. The time delays are inevitable in networked systems. Time-domain and frequency-domain approaches are used to study leaderless and leader-following coordination algorithms with communication and input delays under a directed interaction graph. We consider both the single-integrator and double-integrator dynamics and present stability or boundedness conditions. Several interesting phenomena are analyzed and explained. Simulation results are presented to support the theoretical results.


Tracking Error Interaction Graph Positive Real Part Communication Delay Input Delay 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  1. 1.Dept. Electrical & Computer EngineeringUtah State UniversityLogan UtahUSA

Personalised recommendations