1. School of Information Science and Engineering, Shandong Normal University, Jinan 250014, China
2. Institute of Data Science and Technology, Shandong Normal University, Jinan 250014, China
3. School of Control Science and Engineering, Shandong University, Jinan 250061, China
Corresponding author (firstname.lastname@example.org
In this study, consensus problem for general high-order multi-agent systems with communication delay is investigated. Given the unstable agent dynamics and a known communication delay, two consensus protocols are designed to guarantee consensus over undirected network. By jointly researching the effects of agent dynamics and network topology, allowable delay bounds depending on the maxima of concave functions are easy to calculate. Especially, the maximum delay bound is derived when the network topology is completely connected. The main approach for the same involves designing the control gains on the basis of the solution of a parametric algebraic Riccati equation. Finally, the theoretical results are demonstrated via numerical simulations.
This work was supported by National Natural Science Foundation of China (Grant Nos. 61120106011, 61403235, 61573221, 61633014) and Natural Science Foundation of Shandong Province (Grant Nos. ZR2014FQ011, BS2015DX016).
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