Consensus of single integrator multi-agent systems with directed topology and communication delays

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)21-27
Journal / PublicationControl Theory and Technology
Issue number1
Publication statusPublished - 1 Feb 2016


In this paper, a distributed control scheme has been developed for consensus of single integrator multi-agent systems with directed fixed communication topology for arbitrarily large constant, time-varying or distributed communication delays. It is proved that the closed loop control system can reach consensus with an exponential convergence rate if and only if the topology is quasi-strongly connected. Simulation results are also provided to demonstrate the effectiveness of the proposed controller.

Research Area(s)

  • communication delays, Consensus, directed fixed topology, single integrator multi-agent systems