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Distributed consensus protocol for general third-order multi-agent systems with communication delay

This paper investigates consensus problem of a class of general third-order multi-agent systems with communication delay. Firstly, we proposed a more practical third-order model. Then we designed a appropriate control algorithm of each agent according to its states and those of its neighbor agents. In addition, based on matrix theory and Gerschgorin Disc Theorem, we show that the control protocol with communication delay is sufficient and necessary for directed topology. Finally, the correctness and effectiveness of the theoretical are tested by numerical simulation results.