Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases： 1） continuous, 2） discrete, and 3） a continuous system with a proportional plus derivative controller. In each case, the system contains simultaneous communication and input time delays. Supposing a dynamic multi-agent system with directed topology that contains a globally reachable node, the sufficient convergence condition of the system is discussed with respect to each of the three cases based on the generalized Nyquist criterion and the frequency-domain analysis approach, yielding conclusions that are either less conservative than or agree with previously published results. We know that the convergence condition of the system depends mainly on each agent’s input time delay and the adjacent weights but is independent of the communication delay between agents, whether the system is continuous or discrete. Finally, simulation examples are given to verify the theoretical analysis.
In this paper the pinning consensus of multi-agent networks with arbitrary topology is investigated. Based on the properties of M-matrix, some criteria of pinning consensus are established for the continuous multi-agent network and the results show that the pinning consensus of the dynamical system depends on the smallest real part of the eigenvalue of the matrix which is composed of the Laplacian matrix of the multi-agent network and the pinning control gains. Meanwhile, the relevant work for the discrete-time system is studied and the corresponding criterion is also obtained. Particularly, the fundamental problem of pinning consensus, that is, what kind of node should be pinned, is investigated and the positive answers to this question are presented. Finally, the correctness of our theoretical findings is demonstrated by some numerical simulated examples.
