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This paper presents a distributed position synchronization strategy that alsopreserves the initial communication links for single-integrator multi-agentsystems with time-varying delays. The strategy employs a coordinatingproportional control derived from a specific type of potential energy,augmented with damping injected through a dynamic filter. The injected dampingmaintains all agents within the communication distances of their neighbours,and asymptotically stabilizes the multi-agent system, in the presence of timedelays. Regarding the closed-loop single-integrator multi-agent system as adouble-integrator system suggests an extension of the proposed strategy toconnectivity-preserving coordination of Euler-Lagrange networks withtime-varying delays. Lyapunov stability analysis and simulation resultsvalidate the two designs.

Connectivity-Preserving Coordination Control of Multi-Agent Systems with Time-Varying Delays