Consensus Analysis of Multi-agent System with a Varying-velocity Leader and Time-varying Delays

Abstract

In this paper, consensus problem of the leader-following multi-agent system with a varying-velocity leader is analyzed. The system is considered with both time-varying input-delay and directed dynamic topologies, where the system delay is unknown and time-varying with a pre-specified upper bounded derivative. The stability analysis is performed with a proposed Lyapunov-Krosovskii functional. Sufficient delay-dependent condition in the form of Linear Matrix Inequalities (LMIs) is given to guarantee system consensus. Finally, numerical simulation verifies the theoretical results.