Leader-following coordination of multi-agent systems with coupling time delays

摘要

In this paper, we consider a leader-following consensus problem of a group ofautonomous agents with time-varying coupling delays. Two different cases ofcoupling topologies are investigated. At first, a necessary and sufficientcondition is proved in the case when the interconnection topology is fixed anddirected. Then a sufficient condition is proposed in the case when the couplingtopology is switched and balanced. Numerical examples are also given toillustrate our results.