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Mathematical Problems in Engineering
Volume 2014, Article ID 424537, 14 pages
Research Article

Multiconsensus of Second-Order Multiagent Systems with Input Delays

1College of Automation, Huazhong University of Science and Technology, Wuhan 430074, China
2School of Science, Hubei University of Technology, Wuhan 430068, China
3Petroleum Engineering College, Yangtze University, Jingzhou, Hubei 420400, China

Received 6 July 2013; Revised 28 November 2013; Accepted 16 December 2013; Published 17 February 2014

Academic Editor: Anders Eriksson

Copyright © 2014 Jie Chen et al. 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.


The multiconsensus problem of double-integrator dynamic multiagent systems has been investigated. Firstly, the dynamic multiconsensus, the static multiconsensus, and the periodic multiconsensus are considered as three cases of multiconsensus, respectively, in which the final multiconsensus convergence states are established by using matrix analysis. Secondly, as for the multiagent system with input delays, the maximal allowable upper bound of the delays is obtained by employing Hopf bifurcation of delayed networks theory. Finally, simulation results are presented to verify the theoretical analysis.