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Consensus Achievement of Multi-agent Systems under Delayed State Information

In this paper, the consensus achievement for first-order multi-agent systems is researched over undirected graph. Suppose that the system is unstable and exactly knows the communication delay that affects the actually transmitted information, consensus gain in the protocol is designed with the delay information. Then, conditions are obtained to guarantee consensus for any large yet bounded communication delay. At the end of the article, an example is given to demonstrate the validity of the conclusion.