Robust consensus of second-order multi-agent systems with nonuniform time-delays and switching topologies

This paper studies the robust consensus problem for second-order multi-agent systems with nonuniform time-delays and switching topologies in the presence of external disturbances, where each agent has a self-delay and each delay is independent of each other. A neighbor-based rule is used for the agents with nonuniform time-delays and external disturbances. A sufficient condition is derived under which all agents achieve consensus while satisfying desired H∞ performance. Finally, the effectiveness of the obtained theoretical results is demonstrated through numerical simulations.

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