High-order multi-agent consensus with dynamically changing topologies and time-delays

This study is concerned with consensus problems of a class of high-order multi-agent systems with dynamically changing topologies and time-delays. A nearest-neighbour rule is introduced for these high-order discrete-time agents with the consideration of communication time-delays. It is shown that consensus can be reached, even when the communication topologies are dynamically changing and the corresponding communication graphs have no spanning trees. It is also shown that the communication time-delays do not affect the stability of the multi-agent systems. Finally, a numerical example is included to illustrate the obtained results.