Brief paper: Leader-following consensus of second-order agents with multiple time-varying delays

Authors:
Wei Zhu;Daizhan Cheng
Affiliations:
Key Laboratory of Network Control & Intelligent Instrument of Ministry of Education, Chongqing University of Posts and Telecommunications, Chongqing, 400065, PR China and Key Laboratory of Systems ...;Key Laboratory of Systems and Control, AMSS, Chinese Academy of Sciences, Beijing, 100080, PR China
Venue:
Automatica (Journal of IFAC)
Year:
2010

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Abstract

In this paper, a leader-following consensus problem of second-order multi-agent systems with fixed and switching topologies as well as non-uniform time-varying delays is considered. For the case of fixed topology, a necessary and sufficient condition is obtained. For the case of switching topology, a sufficient condition is obtained under the assumption that the total period over which the leader is globally reachable is sufficiently large. We not only prove that a consensus is reachable asymptotically but also give an estimation of the convergence rate. An example with simulation is presented to illustrate the theoretical results.