Admissible consensualization for singular swarm systems with time delays

Under dynamic output feedback consensus protocols with time delays, admissible consensus problems for highorder linear time-invariant singular swarm systems are investigated. The admissible consensus problem is transformed into admissible problems of multiple singular subsystems by state decomposition. Linear matrix inequality (LMI) criterions for admissible consensualization are presented, which can guarantee scalability of swarm systems since they only involve four LMI constraints. Furthermore, an explicit expression of the consensus function is given, and the impacts of time delays, protocol states and interaction topologies on the consensus function are shown. Moreover, numerical sumulations are given to demonstrate theoretical results.