Consensus tracking control of multi-agent system with an active virtual leader and time delays

Consensus tracking issue is an important and hot topic in the study of distributed coordination control of multiagent systems. For continuous-time second-order multi-agent systems with an active virtual leader and time delays, our paper focuses on its consensus tracking issue by using Lyapunov-Razumikhin theory and Hopf bifurcation theory, respectively. Finally, numerical examples are given to show the effectiveness of our theoretical results.