Weighted Consensus of Multi-Agent Systems Using both Time-delay State and Current State

This paper investigates consensus of continuous-time multi-agent system through adjusting the proportion of the current state and time-delay state in the control algorithm, supposing that its topology is fixed and a directed interconnection graph which contains a spanning tree. A sufficient condition for the convergence to a consensus is proposed and proved based on the generalized Nyquist stability criterion and the Gerschgorin disk theorem. A method is found to enlarge upper bound on the maximum time-delay. numerical simulations are shown to demonstrate the validity of the achieved theoretical results.