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Leaderless and Leader-Following Consensus With Communication and Input Delays Under a Directed Network Topology

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4 Author(s)
Ziyang Meng ; Dept. of Precision Instrum. & Mechanology, Tsinghua Univ., Beijing, China ; Wei Ren ; Cao, Yongcan ; You, Zheng

In this paper, time-domain (Lyapunov theorems) and frequency-domain (the Nyquist stability criterion) approaches are used to study leaderless and leader-following consensus algorithms with communication and input delays under a directed network topology. We consider both the first-order and second-order cases and present stability or boundedness conditions. Several interesting phenomena are analyzed and explained. Simulation results are presented to support the theoretical results.

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:41 ,  Issue: 1 )