摘要：AbstractIn this paper, the effect of homogeneous input delay on rendezvous of a group of agents under cyclic pursuit strategy is investigated. Presence of negative controller gain(s) aids in expanding the reachable set. It is found that at most one negative controller gain is possible for all the agents to converge under delayed condition. In contrast to accommodating any positive controller gains in the no-delay case, the controller gains in delayed case are restricted by the delay. A modification on the gains is proposed in order to tolerate arbitrarily large bounded delay. The weighted centroid of all agents does not change as time evolves and all agents finally converge to their weighted centroid. Simulation results are provided to substantiate the obtained delay-dependent conditions.
