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Discrete Dynamics in Nature and Society
Volume 2013 (2013), Article ID 269235, 11 pages
Research Article

Consensus Analysis for High-Order Multi-Agent Systems without or with Delays

1College of Science, Nanjing University of Posts and Telecommunications, Nanjing 210003, China
2College of Telecommunications and Information Engineering, Nanjing University of Posts and Telecommunications, Nanjing 210003, China

Received 26 August 2013; Accepted 7 September 2013

Academic Editor: Guanghui Wen

Copyright © 2013 Zhengxin Wang and Yang Cao. 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.


This paper studies the consensus problem for a high-order multi-agent systems without or with delays. Consensus protocols, which only depend on the own partial information of agents and partial relative information with its neighbors, are proposed for consensus and quasi-consensus, respectively. Firstly, some lemmas are presented, and then a necessary and sufficient condition for guaranteeing the consensus is established under the consensus protocol without delays. Furthermore, communication delays are considered. Some necessary and sufficient conditions for solving quasi-consensus problem with delays are obtained. Finally, some simulations are given to verify the theoretical results.