SCIENCE CHINA Information Sciences, Volume 60 , Issue 9 : 092204(2017) https://doi.org/10.1007/s11432-016-0094-7

Consensus for high-order multi-agent systems with communication delay

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  • ReceivedMay 25, 2016
  • AcceptedOct 31, 2016
  • PublishedMay 25, 2017


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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