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Abstract and Applied Analysis
Volume 2014 (2014), Article ID 974129, 7 pages
Research Article

Adjacent-Compensation Consensus Algorithm in Asynchronously Coupled Form for Second-Order Multiagent Network under Communication Delay

Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi 214122, China

Received 28 October 2013; Revised 15 January 2014; Accepted 15 January 2014; Published 20 February 2014

Academic Editor: Douglas Anderson

Copyright © 2014 Cheng-Lin Liu and Fei Liu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


General asynchronously coupled consensus algorithm associated with adjacent compensations, is proposed to solve the dynamical consensus problem of second-order multiagent network with communication delay under leader-following coordination control framework. Based on frequency-domain analysis, firstly, delay-independent consensus convergence is proved for the second-order multiagent systems with a spanning tree topology that has the leader root and then delay-dependent consensus condition is obtained for the multiagent systems with communication delay under a general leader-following interconnection topology. Simulation illustrates the correctness of the results.