Nonlinear Multi-Agent System Consensus with Time-Varying Delays ?

  title={Nonlinear Multi-Agent System Consensus with Time-Varying Delays ?},
  author={Ulrich M{\"u}nz and Antonis Papachristodoulou and Frank Allg{\"o}wer},
Most consensus protocols for Multi-Agent Systems (MAS) presented in the past do not consider communication constraints such as delays in the exchange of information between the agents. In this paper, we provide conditions for a nonlinear, locally passive MAS with timevarying communication delays to reach a consensus, using a recently presented method based on an invariance principle for Lyapunov-Razumikhin functions. We consider both the cases of fixed and switching topologies. In the case of a… CONTINUE READING

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