Scaled Consensus of Multi-agent Systems under Time Delay

In this paper, the scaled consensus of multi-agent systems under constant time delay has been studied. Two cases have been considered: 1) The case where all agents receive their states and those of their neighbors’ with a constant delay, and 2) the challenging case where agents can access their own states without delay, but they receive the states of their neighbors with a delay. We check the stability using a Lyapunov-Krasovskii approach. It is also shown that for the second case, the final values of the states depend on the value of delay and scaling adjustable parameters. Finally, the results of this work are validated through simulations.