Consensus control of a class of nonlinear systems with communication time delay

This paper investigates the consensus control of a class of Lipchitz nonlinear multi-agent systems with communication time delay. Upon exploring certain features of Laplacian matrix, global consensus control conditions are identified using Lyapunov method in the time domain. The proposed control only uses relative state information of the system. Numerical simulations validate the effectiveness of the proposed controller design and show its performance with different nonlinearities and time delays.