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中文摘要：
这篇论文建议秒顺序一致协议并且把协议的坚韧性的一项措施给与秒顺序动力学在代理人的动力学存在的时间延期。由采用一个频率领域方法，如果网络的拓扑学被连接，信息状态为适当时间延期 asymptotically 完成秒顺序一致，这被证明。特别地，能被容忍的固定时间延期上的非保守的上面的界限被发现。一致协议在每个代理人仅仅需要的意义被散布从它的附近的代理人的信息，它使建议协议可伸缩。它显著地在代理人之中减少连接的复杂性。模拟结果被提供面对在代理人的动力学存在的时间延期在网络验证秒顺序一致的理论结果的有效性。
英文摘要：
This paper proposes second-order consensus protocols and gives a measure of the robustness of the protocols to the time-delays existing in the dynamics of agents with second-order dynamics. By employing a frequency domain method, it is proven that the information states achieve second-order consensus asymptotically for appropriate time-delay if the topology of the network is connected. Particularly, a nonconservative upper bound on the fixed time-delay that can be tolerated is found. The consensus protocols are distributed in the sense that each agent only needs information from its neighboring agents, which makes the proposed protocols scalable. It reduces the complexity of connections among agents significantly. Simulation results are provided to verify the effectiveness of the theoretical results for second-order consensus in networks in the presence of time-delays existing in the dynamics of agents.
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