Consensus of high-order multi-agent systems with delayed information from neighbors

In this paper, consensus for a group of high-order multi-agent systems that are at most critically unstable is investigated. Assuming that every agent receives neighbors' information with an unknown constant communication delay in an undirected network, both the delay-independent and delay-dependent conditions are provided for consensus. The technique to solve the consensus problem is using the low gain solution of a parametric algebraic Riccati equation (ARE) in the protocol design.