Science China Information Sciences

, 60:092204 | Cite as

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

  • Zhenhua WangEmail author
  • Huanshui Zhang
  • Minyue Fu
  • Huaxiang Zhang
Research Paper


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.


consensus communication delay historical input information parametric algebraic Riccati equation eigenratio 



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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Copyright information

© Science China Press and Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  • Zhenhua Wang
    • 1
    • 2
    Email author
  • Huanshui Zhang
    • 3
  • Minyue Fu
    • 4
    • 5
  • Huaxiang Zhang
    • 1
    • 2
  1. 1.School of Information Science and EngineeringShandong Normal UniversityJinanChina
  2. 2.Institute of Data Science and TechnologyShandong Normal UniversityJinanChina
  3. 3.School of Control Science and EngineeringShandong UniversityJinanChina
  4. 4.School of Electrical Engineering and Computer ScienceUniversity of NewcastleCallaghanAustralia
  5. 5.School of Automation, Guangdong Key Laboratory of IoT Information TechnologyGuangdong University of TechnologyGuangzhouChina

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