  This paper presents a distributed position synchronization strategy that also
preserves the initial communication links for single-integrator multi-agent
systems with time-varying delays. The strategy employs a coordinating
proportional control derived from a specific type of potential energy,
augmented with damping injected through a dynamic filter. The injected damping
maintains all agents within the communication distances of their neighbours,
and asymptotically stabilizes the multi-agent system, in the presence of time
delays. Regarding the closed-loop single-integrator multi-agent system as a
double-integrator system suggests an extension of the proposed strategy to
connectivity-preserving coordination of Euler-Lagrange networks with
time-varying delays. Lyapunov stability analysis and simulation results
validate the two designs.
