Consensus of multi-agent systems with time delay based on nonlinear algorithm

Based on nonlinear coupled algorithm, consensus problem of first-order multi-agent systems with time-varying input delay is investigated. Firstly, by utilizing Lyapunov theorem and LaSalle invariance principle, sufficient consensus condition for the multi-agent systems is obtained when the directed interconnection topology is strongly connected. Secondly, the above conclusion is extended to the case of weakly connected digraph by applying algebraic graph theory and matrix theory. Lastly, computer simulation examples are presented to demonstrate the effectiveness of the obtained results.