Consensus design for continuous-time multi-agent systems with communication delay

This paper investigates a consensus design problem for continuous-time first-order multiagent systems with uniform constant communication delay. Provided that the agent dynamic is unstable and the diagraph is undirected, sufficient conditions are derived to guarantee consensus. The key technique is the adoption of historical input information in the protocol. Especially, when agent's own historical input information is used in the protocol design, the consensus condition is constructed in terms of agent dynamic, communication delay, and the eigenratio of the network topology. Simulation result is presented to validate the effectiveness of the theoretical result.