Consensus problems in networks of agents with communication delay

This paper studies the consensus problem for high-order multi-agent systems with constant communication delay. Under the assumption that the delay is known and the agent dynamics has unstable poles, an allowable delay bound for consensus is provided. The key technique is the adoption of the unique positive solution of a parametric algebra Riccati equation(ARE) in designing the control gain. Finally, a numerical example is given to show the validity of the theoretical results.