Consensus analysis of a class of second-order multi-agent systems with nonuniform time-delays and dynamically changing topologies

In this paper, the consensus problem of second-order multi-agent systems with nonuniform time-delays and dynamically changing topologies is studied. A linear consensus protocol with nonuniform time-delays is developed for multi-agent systems. A sufficient condition in terms of linear matrix inequalities is established to solve the consensus problems under dynamically changing topologies (even when the communication topologies is not connected all the time). A numerical example is provided to illustrate the significance of our theoretical results.