Multiagent synchronization under delay in position and velocity with application to formation control

This paper considers the synchronization of continuous-time(CT) multiagent systems with single integrator dynamics. Initially, a protocol that includes velocity information from the neighbour agent is taken into account for synchronization study. But, in practical systems, velocity information from the neighbour agent and position information of agents can only be received after a certain time delay. It is further shown in the paper that the protocol using delays in position and velocity still guarantees the synchronization of the multiagent system. The paper introduces two separate delay protocols for constant reference state and time varying reference state. We also discuss the convergence rate of synchronizing protocols with the delays in system. An application of such protocol is then used in the formation Control Problem. All the theoretical results are illustrated by simulations.