Consensus problem of coupled dynamic agents with communication delay

Coupled consensus of multiple second-order dynamic agents with communication delay is considered in this paper. Based on frequency-domain analysis, sufficient and necessary condition, which depends on the communication delay and the control parameters, is obtained for two coupled dynamic agents under dynamical consensus algorithm converging to the stationary consensus, firstly. Moreover, the results of two coupled dynamic agents are extended to three coupled dynamic agents whose interconnection topology is a undirected line. Simulation results demonstrate the correctness of the results.