On the General Consensus Protocol for Second-order Multi-agent Systems with Diverse Time Delays

Abstract

In this paper, the consensus problem is investigated for a general protocol of second-order multi-agent systems with diverse time delays. Different from the existing results, in this paper different consensus dynamics including linear, periodic and positive exponential dynamics can be realized by selecting different gains. Through matrix theory and frequency domain analysis, a sufficient consensus condition is obtained. Simulation results illustrate the correctness of the results.