Bipartite Consensus of Second-order Multi-agent Systems with Multiple Input Delays

Abstract

This study deals with the bipartite consensus problem of second-order multi-agent systems (MASs) with multiple input delays. The main mission is to seek out the maximum permissible time delay of MASs under the condition that each agent has different input delay. Using mathematical analysis methods, the maximum allowable delay of the system is obtained through calculation, which is determined by the maximum eigenvalue of Laplace matrix and control parameters. Simulation shows the validity of the proposed control protocols.