Leader-following consensus in networks of agents with nonuniform time-varying delays

Abstract

This paper is concerned with a leader-following consensus problem for networks of agents with fixed and switching topologies as well as nonuniform time-varying communication delays. By employing Lyapunov-Razumikhin function, a necessary and sufficient condition is derived in the case of fixed topology, and a sufficient condition is obtained in the case when the interconnection topology is switched and satisfies certain condition. Simulation results are provided to illustrate the theoretical results. © 2012 Zhao-Jun Tang et al.