Exact computation of maximal allowable delay for general second-order multi-agents consensus

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

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Original languageEnglish
Pages (from-to)9681-9695
Journal / PublicationInternational Journal of Robust and Nonlinear Control
Issue number18
Online published9 Mar 2021
Publication statusPublished - Dec 2022


The delay consensus margin (DCM) defines the largest delay range within which a distributed feedback control protocol can achieve and maintain the consensus robustly against uncertain time delays. This article investigates the exact computation of the DCM for general second-order multi-agent systems (MASs) under distributed proportional-derivative (PD) feedback, or alternatively known as position and velocity feedback protocols over undirected graphs. We consider MASs with uncertain constant delays, and derive the DCM expression for second-order agents and show that it can be determined by solving a non-smooth quasi-concave optimization problem. The DCM as such, can be computed via convex optimization methods.

Research Area(s)

  • delay consensus margin, delay uncertainty, quasi-concave optimization, second-order multi-agent systems