Consensus of second-order multi-agent systems using only relative delayed position measurements

This paper considers the distributed consensus problem for a class of second-order multi-agent systems with directed communication topology and relative delayed position measurements. To solve this problem, an observer-based communication protocol is designed and the consensus points are analytically provided. Moreover, the consensus points are interestingly found independent of any given fixed time-delay. To verify the analytical results, some simulations as applications to rendezvous of multiple robots are finally performed.