Consensus Control of Linear Multi-Agent Systems with Non-uniform Time-varying Communication Delays

This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and the communication delays between the agents are non-uniform and time-varying. We design a distributed control protocol for the agents and provide an equivalent stability problem to be solved that guarantees the state consensus in the group of agents. Moreover, a delay-dependent stability criterion is provided by combining the Lyapunov-Krasovskii method with the linear matrix inequality approach.