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| In this paper, we investigate the coordination of a network of second-order dynamic agents under communication delays. Based on the frequency-domain analysis and matrix theory, the necessary and sufficient condition for the system converging to stationary consensus and dynamic consensus are obtained, respectively. The condition depends on the communication delay, the eigenvalues of the Laplacian matrix, and the interconnection topology of the network. Moreover, we apply the consensus algorithm to the formation control of the multi-agent system with communication delays. The agents in the system can achieve arbitrary desired formation pattern, and the formation moves in a desired velocity. Simulation results illustrate the correctness of the results. |
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| Keywords:Coordination, Consensus, Formation control, Multi-agent systems, Communication delays. |
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