Consensus of Double-Integrator Multi-Agent Systems with Directed Networks and Nonuniform Communication Time Delays

摘要

This paper addresses the consensus problem for a class of double-integrator multi-agent systems with directed communication networks. Both the uniform and nonuniform communication time delays are considered. By adopting the frequency domain approach, an upper bound of the tolerable communication time delays is derived. Then, a distributed control law is proposed, such that all agents can reach consensus provided that the time delays are less than the upper bound. Some examples are provided to verify the correctness of the theoretical results.