A Class of Second-Order Consensus Protocol in Multi-Agent Systems with Multiple Input Delays

  • Huai Wu
  • Kai Gao
  • Baoran AnEmail author


This paper is concerned with the consensus problems for second-order multi-agent systems with multiple input delays. Different from all standard consensus algorithms with uniform delays, the authors aim to find the largest input-delay margin which can guarantee the consensus for the case when delays are nonuniform. Based on frequency domain analysis and matrix theory, an upper bound for maximum tolerable input-delay is given in terms of the relationship with scaling strengths and largest eigenvalue of the Lapalician matrix. Simulation results are provided to illustrate the obtained results.


Consensus multiple input delays second-order multi-agent systems 


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Copyright information

© Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Institute of Computer ApplicationChina Academy of Engineering PhysicsMianyangChina
  2. 2.Jiangsu Automation Research InstituteLianyungangChina

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