Abstract
In this paper, distributed consensus for a group of high-order discrete multi-agent systems with time-varying delay in the transmission channel is analysed. Suppose that the system is critically unstable and the delay retards the neighbours' state information, some sufficient conditions are built by designing protocol without the delay information in the control gains. Particularly, it is revealed that the constraint of delay on consensus is relaxed thoroughly if the dimension of the system and the parameters of the undirected topology satisfy the developed conditions. Finally, the proposed approaches are supported through two numerical examples.
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