Controlled consensus of multi-agent systems with communication time delay

This paper investigates the global exact consensus problem of networked Multi-Agent Systems (MAS) consisting of nonlinear, identical agent dynamics and communication time-delay topology. We derive global exact consensus conditions by using of linear feedback and adaptive feedback respectively, and the proposed results are theoretically proved to be effective based on the Lyapunov-Krasovskii functional method. The proposed consensus criteria ensure that all agents eventually move along the desired dynamic trajectory which is derived from the average dynamics of all agents here, meanwhile, the proposed consensus criteria generalize many existing results and can be viewed as an extension of such relevant results. The effectiveness of the results is also demonstrated through a numerical simulation finally.