Consensus of Multi-agent System with Singular Dynamics and Time Delay

In this paper, the consensus problem of high-order multi-agent systems with singular dynamics and time-varying time delay is investigated. By the restricted equivalent transformation, a differential-algebraic system is introduced which is equivalent to this singular system on consensus. Based on dynamic state information and time delay, a consensus protocol is proposed. A sufficient condition of consensus is given in terms of LMI. Furthermore, the consensus state is also obtained by calculating the solution of the subsystem. Finally, an example is presented to illustrate the theoretical results.

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