“…Multi-agent systems have been widely used in the areas of formation control [10], flocking or swarming behaviors [24,32], path planning [8] and congestion control in communication networks [3,5], etc. In coordinated control of multiagent systems, a critical problem is to design appropriate protocols and algorithms such that multiple agents can achieve a common consensus value on the shared information in the presence of limited and unreliable information exchange as well as communication delays [1,9,23,26,28,29].…”