Consensus of Homogeneous Multi-agent Systems with Time Delays

Abstract

With the help of various analysis methods, including frequency-domain analysis, Lyapunov method, properties of stochastic matrix theory, etc., delay effect on consensus seeking multi-agent systems, especially for the homogeneous multi-agent systems , has been extensively analyzed in the past decade. With nonnegligible communication delay , however, consensus results are mainly for the first-order, second-order, and high-order multi-agent systems driven by stationary consensus algorithms with diverse communication delays, dynamical consensus algorithm in synchronously coupled form, etc. Besides, consensus problem with identical input delay has also been extensively studied, but consensus analysis of multi-agent systems with diverse input delays only attracted a little attention.