Distributed Consensus Control for Second-Order Agents with Fixed Topology and Time-Delay

Abstract

In this paper, distributed consensus control is investigated for networks of agents with double integrator dynamics. Two kinds of networks are analyzed, i.e., directed networks with fixed topology and undirected networks with fixed topology and time-delay. For each of the networks, a sufficient and necessary condition is given to guarantee the consensus. It is proved that the largest tolerable time-delay is only related to the largest eigenvalue of the graph Laplacian. Finally, two numerical examples are provided to illustrate the obtained results.