Research on Formation Algorithm Based on Second-order Delay Multi-Agent System

This paper considers the time delay issue in the communication process among multi-agents with directed fixed topology and presents a consensus protocol. Then a sufficient condition for multi-agent system obtaining global asymptotic consistency under directed fixed topological is proved. Furthermore, the upper bound of compactness for the largest time delay is provided and the information consistency idea is applied to the formation control of multi-agent. Finally, some simulations are performed to verify the theoretical results proposed in this paper and the simulation results show that method based on the consistency protocol can be successfully applied to multi-agent networked system with communication delay and the preset formation can be completed well.