Leader-Following Consensus Control of Nonlinear Multi-Agent Systems with Arbitrarily Large Input Delay

This paper considers the leader-following consensus control problem for a class of Lipschitz nonlinear multi-agent systems with a large input delay. Based on the domination philosophy and the low gain design, a distributed controller has developed for follower agents. By employing the Lyapunov-Krasovskii functional method, it is show that all the follower agents can achieve consensus with the leader if the communication topology is connected. Finally, an example with simulations is presented to confirm the effectiveness of the theoretical results.