Consensus analysis of second-order agents with active leader and time delay via impulsive control

In this paper, the leader-following consensus problem of second-order agents with time delay is considered. By designing an appropriate impulse sequence, and assuming that the leader is globally reachable at these impulse moments, the consensus error is estimated if the leader´s velocity is variable and the consensus is achieved if the leader´s velocity is constant. An example with simulation is given to illustrate the theoretical results.