Consensus of Multi-agent Systems with Sampled Information and Input Delay

In this paper, the consensus problem is investigated for the second-order multi-agent systems with sampled information and input delay. Based on the frequency domain analysis, sufficient and necessary consensus conditions are obtained for the sampled-data system converging to the stationary consensus and the dynamical consensus respectively. The consensus condition depends on not only the input delay, but also the sampling interval. When the sampling interval is larger than the critical value, the system diverges without any relationship to the input delay. Simulation results illustrate the correctness of the results.