Adaptive second-order consensus of multi-agent systems with nonlinear dynamics and time-varying delays

We investigate second-order consensus of multi-agent systems with undirected topology and two kinds of time-varying delays. By introducing adaptive strategies to both the coupling strengths and the feedback gains of the position and velocity, we propose a decentralized adaptive consensus algorithm for multi-agent systems. For the derivable and bounded time-varying delays, we have proved that the position and the velocity of each agent can converge to those of the virtual leader even through only one agent is informed if the network is connected. Finally, we give some numerical simulations to verify the theoretical results.