Flocking algorithms for multi-agent systems with time-delay

Focusing on the time-delay problem of multi-agent systems, this paper provides solutions for flocking of systems with time-delay. For the circumstance with a virtual leader, the agents would follow the virtual leader and achieve the same velocity asymptotically. Systems with homogeneous and inhomogeneous time-delays are discussed respectively. The appropriate simulation circumstance is set up, and the obtained results are in agreement with the theoretical deduction, which show the effectiveness of the proposed flocking algorithm.