Consensus for high-order time-delayed swarm systems with uncertainties and external disturbances

Consensus problems of high-order linear time-invariant swarm systems with interaction uncertainties and time-varying external disturbances on directed graphs are dealt with. Using output information, a consensus protocol with nonuniform time-varying delays is presented based on the dynamic output feedback control theory. Consensus problems of a swarm system are converted into stability problems of a disagreement subsystem. By applying the Lyapunov-Krasovskii functional approach and the linear matrix inequality technique, sufficient conditions for the swarm systems to achieve practical consensus are proposed. Numerical simulations are presented to demonstrate theoretical results.