Bounds on Delay Consensus Margin of Second-Order Multiagent Systems With Robust Position and Velocity Feedback Protocol

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journal

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Original languageEnglish
Pages (from-to)3780-3787
Journal / PublicationIEEE Transactions on Automatic Control
Issue number9
Online published29 Nov 2018
Publication statusPublished - Sep 2019


This paper studies the delay consensus margin and its bounds for second-order multi-agent systems to achieve robust consensus with respect to uncertain delays varying within a range. The paper attempts to answer the question: What is the largest delay range within which a control protocol is able to achieve and maintain the consensus? We consider second-order agents with unstable poles which communicate over an undirected network topology, and derive explicit bounds on the delay consensus margin. The results show that the consensuability robustness of such unstable agents depends on the pole locations of the agents, as well as on the eigen-ratio of the network graph.

Research Area(s)

  • delay consensus margin, multi-agent systems, second-order agents, Time delay

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