Second-order group consensus for multi-agent systems with time delays

This paper studies the group consensus problem of second-order multi-agent systems (MASs) with time delays. First, by state transformation method, the group consensus problem of multi-agent systems can be equivalently transformed into the asymptotical stability of a time-delay system. Then, by Lyapunov first method and Hopf bifurcation theory, respectively, we aim to find the upper bound of time delay τ⁎τ⁎ such that the multi-agent systems can achieve group consensus for τ∈[0,τ⁎)τ∈[0,τ⁎). Finally, simulation examples are given to show the effectiveness of our theoretical analysis.