Delayed-Compensation Algorithm for Second-Order Leader-Following Consensus Seeking under Communication Delay
Cheng‐Lin Liu, Fei Liu · Entropy · 2015
In this paper, the leader-following consensus algorithm, which is accompanied with compensations related to neighboring agents’ delayed states, is constructed for second-order multi-agent systems with communication delay. Using frequency-domain analysis, delay-independent and delay-dependent consensus conditions are obtained for second-order agents respectively to converge to the dynamical leader’s states asymptotically. Simulation illustrates the correctness of the results.