Input Delay Effect on Cluster Consensus in Continuous-Time Networks

In this paper, we investigate the effect of input time-delay on the cluster consensus of multi-agent systems operating in continuous-time. Contrary to the studies on cluster/group consensus in the literature, the clusters are not pre-determined. We investigate the stability of a multi-agent network with fixed input time-delay. The analysis yields the upper bound of time-delay that does not affect the number of clusters and convergence properties of the agents. Theoretical results are illustrated via several simulations. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.