Second-Order Leader-Following Consensus of Multiagent Systems with Time Delays

This paper is concernedwith a leader-following consensus problem of second-ordermultiagent systemswith a constant acceleration leader and time-varying delays. At first, a distributed control protocol for every agent to track the leader is proposed; then by utilizing the Lyapunov-Razumikhin function, the convergence analysis under both fixed and switching interconnection topologies is investigated. For the case of fixed topology, a sufficient and necessary condition is obtained, and for the case of switching topology, a sufficient condition is derived under some assumptions. Finally, simulation examples are provided to demonstrate the effectiveness of the theoretical results.