Distributed consensus control for second-order multi-agent systems with time-delay

In this paper, we investigate the consensus problem for the second-order multi-agent systems with communication time-delay. We firstly introduce the consensus protocol based on neighbor directed network. Then by using Lyapunov functions, we prove the stability of the proposed control protocols, and derive a sufficient condition for the consensus convergence of the multi-agent system. Finally, simulation examples are provided to illustrate the theoretical analysis.