Consensus of First-order Agents with Neighbors' Delayed Information

This paper is concerned with the consensus problem for general first-order multi-agent systems over undirected topology. Under the assumption that the topology is connected and every agent receives neighbors information with time-varying communication delay, allowable delay bound depending on the agent dynamics, topology structure and the control gain is obtained. In particular, in case of first-order integrator systems, any large yet bound delay is tolerant for consensus. Finally, the effectiveness of the theoretical result is illustrated through numerical example.