Controllability of multi-agent systems with input and communication delays

Distributed cooperative control of multi-agent systems is broadly applied in artificial intelligence which time delay great concern because its ubiquitous. This paper considers the controllability leader-follower with input and communication delays. For first-order delay, neighbor-based protocol adopted to realize interactions among agents, yielding a system existed state input. New notions interval structural for are defined. Algebraic criterion established controllability, graph-theoretic interpretation put forward controllability. Results imply that has significant influence on Corresponding conclusions generalized high-order ones delays, respectively. Example attached illustrate work.