Consensus of Multiagent Systems With Delayed Node Dynamics and Time-Varying Coupling

This paper is devoted to the consensus problem of networked nonlinear agents with multiple self-delays and time-varying coupling. We first establish a generalized Halanay's inequality based on comparison theorem, and then convert the consensus problem into a stability problem of retarded differential equation with time-varying coefficients, from which sufficient conditions for consensus are derived. Our results manifest that the time-average of coupling strength over intervals of certain length, together with the underlying topology and the values of self-delays, plays a crucial role in guaranteeing consensus. Based on the theoretical analysis, an estimation of the largest admissible delay is also available. This paper provides a general framework for achieving consensus in agents with time-varying coupling, such as coupling with external perturbations, intermittent control in on-off fashion, or pulse-modulated coupling strength, etc. Furthermore, useful criteria are given for various applications which have also been verified with numerical simulations.

Automated summary

This paper focuses on the consensus problem of networked nonlinear agents with multiple self-delays and time-varying coupling. It establishes sufficient conditions for consensus and provides an estimation of the largest admissible delay, as well as useful criteria for various applications. The results have been verified with numerical simulations.