Consensus of a Two-Agent System with Nonlinear Dynamics and Time-Varying Delay

To explore the impacts of time delay on nonlinear dynamics of consensus models, we incorporate time-varying delay into a two-agent system to study its long-time behaviors. By the classical 3/2 stability theory, we establish a sufficient condition for the system to experience unconditional consensus. Numerical examples show the effectiveness of the proposed protocols and present possible Hopf bifurcations when the time delay changes.