Consensus Analysis in Multi-Agent Systems Subject to Delays and Switching Topolog∗

This paper presents a consensus analysis method for multi-agent systems subject to nonuniform and non-differentiable time-varying delays and switching topology. It is considered that the topology changes according to a continuous time Markov chain and the existence of nonuniform time-varying delays in the agents control laws. The main result formulated as linear matrix inequalities is obtained by showing that the consensus analysis in the multi-agent system can be performed by analyzing the stability of an associated Markov jump linear system. The results are illustrated by numerical examples.