Consensus of multi-agent systems with antagonistic interactions and communication delays

This paper deals with the consensus problem of multi-agent systems under undirected graphs that have antagonistic interactions and communication delays. The multi-agent systems are guaranteed to reach agreement on a consensus value that is the same for all agents except the sign. A problem transformation approach is proposed, which can transform the considered consensus problem into an equivalent stability problem. It is shown that if a multi-agent network under fixed topology is connected and can achieve structural balance, then it can reach consensus, regardless of multiple communication delays. Simulation examples are provided to demonstrate the effectiveness of the derived results.