Consensus Conditions for High-Order Multiagent Systems with Nonuniform Delays

<div>The trajectories of agents in the second-order system (the topology is <svg height="12.1958pt" id="M390" style="vertical-align:-3.181479pt" version="1.1" viewbox="-0.0498162 -9.01432 15.1328 12.1958" width="15.1328pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M417 653C377 677 335 687 290 687C171 687 83 622 83 541C83 462 150 415 250 398C231 363 224 320 224 292C224 212 282 165 361 165C409 165 455 180 499 209L500 208C439 89 369 16 246 16C183 16 127 48 122 79H124C131 68 141 66 153 66C181 66 197 90 197 117C197 142 173 164 146 164C111 164 87 134 87 95C87 39 157 -15 256 -15C421 -15 531 60 586 209C606 264 620 298 652 330L637 346C520 239 440 195 368 195C324 195 302 225 302 262C302 293 311 343 343 390C542 390 740 489 740 593C740 642 693 669 637 669C526 669 359 580 263 428C175 440 124 482 124 541C124 602 193 657 297 657C332 657 369 652 408 635L417 653ZM699 590C699 512 532 420 361 420C425 535 557 632 642 632C673 632 699 618 699 590Z" id="g198-8"></path><glyph.data ascent="687" descent="-226" horiz-adv-x="773" vert-adv-y="773"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,10.049,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg>).</div>

Mathematical Problems in Engineering

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Figure 8

Figure 8: Consensus Conditions for High-Order Multiagent Systems with Nonuniform Delays 