Guaranteed Cost Control for Multiple Second-order Dynamic Agents with Delayed Consensus Protocol

Guaranteed cost consensus problem for a group of second-order dynamic agents is investigated in the current paper. where a consensus protocol with time-varying delays is considered. Firstly. the guaranteed cost control is used to deal with the consensus problem for second-order multi-agent systems with time-varying delays, where the consensus regulation performance and the energy consumption are considered simultaneously. Secondly, several sufficient conditions for guaranteed cost consensus problems are presented. Moreover, an upper bound of the cost function is determined and an explicit expression of the consensus function are given when second-order multi-agent systems achieve guaranteed cost consensus. Finally, simulations are presented to illustrate the effectiveness of the results.