Journal of Systems Engineering and Electronics ›› 2014, Vol. 25 ›› Issue (3): 489-495.doi: 10.1109/JSEE.2014.00056

• CONTROL THEORY AND APPLICATION • Previous Articles     Next Articles

Multi-agent consensus with time-varying delays and switching topologies

Jia Wei1,2,* and Huajing Fang1   

  1. 1. School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China;
    2. College of Engineering, Huazhong Agricultural University, Wuhan 430070, China
  • Online:2014-07-01 Published:2010-01-03


The consensus problems of multi-agents with timevarying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and processes its own state information with time-varying self-delay respectively. The state time-delay feedback is introduced into the existing consensus protocol to begenerate an improved protocol. Then a sufficient condition is derived which can make the system with time-varying self-delays achieve the consensus. On this basis, a specific form of consensus equilibrium influenced by the initial states of agents, timedelays and state feedback intensity is figured out. In addition, the multi-agent consensus is considered with time-varying topologies. Finally, simulations are presented to illustrate the validity of theoretical results.