Delayed-Compensation Algorithm for Second-Order Leader-Following Consensus Seeking under Communication Delay

Abstract

In this paper, the leader-following consensus algorithm, which is accompanied with compensations related to neighboring agents’ delayed states, is constructed for second-order multi-agent systems with communication delay. Using frequency-domain analysis, delay-independent and delay-dependent consensus conditions are obtained for second-order agents respectively to converge to the dynamical leader’s states asymptotically. Simulation illustrates the correctness of the results.

Keywords

• second-order multi-agent systems
• communication delay
• leader-following consensus problem
• delayed-compensation algorithm