Synchronization of multi-agent systems with delayed input information from neighbors

In this paper, we consider the synchronization of continuous multi-agent systems. We study two control protocols, without or with control input information from neighbors, and demonstrate the advantages and better performance of the latter protocol. In order to address possible communication delays for transmission of input signals, a control protocol based on delayed input information is also investigated. It is shown that the protocol guarantees the synchronization of the multi-agent system for any control input delay. Furthermore, the convergence rate in relation to the delay is revealed. Some numerical examples are given to demonstrate the effectiveness of the protocols.