Coupled consensus of second-order dynamic agents with communication delay

The stationary consensus algorithm with communication delay was proposed to solve the coupled consensus problem of the second-order dynamic agents. Based on the frequency domain analysis, the conditions, which depend on the communication delay and the control parameters, are obtained for the continuous-time and the discrete sampled-data second-order dynamic agents converging to a stationary consensus asymptotically, respectively. Moreover, the consensus convergence is subjected to the sampling interval in the sampled-data system, and the system diverges when the sampling interval is larger than the critical value. The simulation results illustrate the correctness of the algorithm.