Bounded consensus tracking for second-order multi-agent systems with communication delay and sampled information

The consensus algorithm is proposed to solve the bounded consensus tracking problems of the second-order multi-agent systems with communication delay and sampled delay, where the control input of an agent can only use the information measured at the sampling instants from its neighbors or the virtual leader. Based on the delay decomposition approach, the augmented matrix method and some other technologies, the necessary and sufficient conditions are obtained for the multi-agent systems tracking the virtual leader. Furthermore, the special conditions on the sampling period, communication delay and sampling delay are derived, which guarantee that the bounded consensus tracking is realized.