Multi-Hop Consensus for High-Order Integrator Multi-Agent Systems

This paper investigates consensus problems for high-order integrator multi-agent systems subjected to constant network communication delay and fixed topology. Two new protocols are proposed based on multi-hop relaying process for cases with and without delay, respectively. For the case without delay, the consensus protocol only requires the network connectivity condition, yet the final consensus value is not constant. For the case with delay, a necessary and sufficient condition to reach consensus for the delay and connectivity is derived. Numerical examples are given to demonstrate the effectiveness of the theoretical results.