Synchronization of Second-Order Networked Multi-Agent Systems with Relative Delay

In this paper, the synchronous control of second-order networked multi-agent systems with relative state delay between agents is studied. A synchronous protocol based on relative state feedback is proposed and the condition of system state synchronization is obtained. The results show that the Rendezvous Speed of the system tends to zero asymptotically under positive relative delay, and give a sufficient condition for the Rendezvous Speed of the system to reach zero. The theoretical results are verified by simulation experiments.