First-order consensus problem for multi-agent systems with communication delay

This paper considers the consensus for the first-order multi-agent systems with communication delay. Under the assumptions that the undirected network topology is connected and the constant communication delay is exactly detectable, agent´s own historical input information is used in the protocol design. By investigating the relations among agent dynamic, network topology and communication, delay-dependent conditions are obtained. Finally, the results are illustrated by numerical simulations.