CONSENSUS ANALYSIS OF CONTINUOUS-TIME SECOND-ORDER MULTI-AGENT SYSTEMS WITH NONUNIFORM TIME-DELAYS AND SWITCHING TOPOLOGIES

摘要

In this study, consensus problems for second-order multi-agent systems with nonuniform and switching topologies are investigated. Each agent has a self-delay, and each delay is independent of the others. As a measure of the disagreement dynamics, a class of positive semi-definite Lyapunov-Krasovskii functions are introduced. Using algebraic graph theory and these Lyapunov-Krasovskii functions, sufficient conditions are derived by contradiction under which all agents asymptotically reach consensus. Finally, the effectiveness of the obtained theoretical results is demonstrated through numerical simulations.