Average Consensus in Networks of Multi-Agent with Multiple Time-Varying Delays

The average consensus in undirected networks of multi-agent with both fixed and switching topology coupling multiple time-varying delays is studied. By using orthogonal transformation techniques, the original system can be turned into a reduced dimensional system and then LMI-based method can be applied conveniently. Convergence analysis is conducted by constructing Lyapunov-Krasovskii function. Sufficient conditions on average consensus problem with multiple time-varying delays in undirected networks are obtained via linear matrix inequality (LMI) techniques. In particular, the maximal admissible upper bound of time-varying delays can be easily obtained by solving several simple and feasible LMIs. Finally, simulation examples are given to demonstrate the effectiveness of the theoretical results.