Consensus with convergence rate in directed networks with multiple non-differentiable input delays

This paper investigates consensus problems in directed networks of multi-agent systems considering multiple and non-differentiable time-varying delays. A transformation is carried out to convert the consensus problem into an analysis of stability. Then, a novel Lyapunov-Krasovskii functional (LKF) is employed to prove consensus with an estimate for the exponential convergence rate in terms of a set of Linear Matrix Inequalities (LMIs). Numerical simulations are provided to show the effectiveness of the proposed method. Comparisons with similar approaches are also presented.

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