A Consensus Control Algorithm of High-order Multi-agent Systems with Time Delay

In this paper, we studied the consensus problem for high-order multi-agent systems with time delay. In the systems, each node can be controlled by adjusting its position, velocity and acceleration states. There was a globally reachable node exists in the model. To make the system achieve a globally asymptotic consensus, we designed a appropriate control law for each node. In addition, we verified the control protocol with time delay is sufficient and necessary for directed topology based on the Method of Disc Theorem. Finally, numerical examples illustrated the validity of the theoretical results.