Forced consensus of multi-agent systems with directed communication topology and interval time-varying delay

摘要

This paper is concerned with forced consensus problem for directed multi-agent systems with interval time-varying delay, where all agents approach a constant reference trajectory under the condition that only a subset of the agents can receive information from the reference state. The time-varying delay is assumed to belong to an interval with known lower and upper bounds, but its lower bound may be greater than zero. We first propose a consensus algorithm that extends the existing results in the literature to account for interval time-varying delay. Then, the consensus stability analysis is conducted by introducing an appropriate Lyapunov-Krasovskii functional and using Jensen inequality technique. A delay-range-dependent stability criterion is derived in terms of linear matrix inequalities, which can be efficiently solved by the interior-point algorithm. Finally, simulation examples indicate the capabilities of the proposed algorithm.