Distributed velocity-constrained consensus of second-order multi-agent systems with switching topologies and delays

In this paper, a velocity-constrained consensus problem is studied for second-order multi-agent systems with nonuniform communication delays under the assumption that the union of the graphs has directed spanning trees among each time interval of certain bounded length. It is shown that the communication delays can be arbitrarily bounded and the number of all possible edge weights is infinite. Finally, numerical examples are included to illustrate the theoretical results.