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In this paper,we consider the consensus problem of a group of general linear agents with communication and input delays under a fixed,undirected network topology.By factorizing the characteristic equation of the multi-agent system into a set of reduced-order factors,the problem is transformed to the stability analysis of resulting factors with reduction in complexity.Furthermore,stable ranges of the control gain,such that the consensus of multi-agent systems could be reached when delays vanish,are analyzed.With control gain confined to stable ranges,and applying the advanced clustering with frequency sweeping method to investigate the stability of factors,the delay-independent and delay-dependent consensus are discussed.An illustrative example is offered to verify the analytical conclusions.
In this paper, we consider the consensus problem of a group of general linear agents with communication and input delays under a fixed, undirected network topology. By factoring the characteristic equation of the multi-agent system into a set of reduced-order factors, the problem is transformed to the stability analysis of resulting factors with reduction in complexity .Furthermore, stable ranges of the control gain, such that the consensus of multi-agent systems could be reached when delays vanish, are analyzed. Control in confined to stable ranges , and applying the advanced clustering with frequency sweeping method to investigate the stability of factors, the delay-independent and delay-dependent consensus are discussed. Exemplary embodiment is provided to verify the analytical conclusions.