Continuous-time average consensus under dynamically changing topologies and multiple time-varying delays

The average consensus in continuous-time multi-agent systems with dynamically changing topologies and multiple time-varying delays is studied in this paper. The network topology is captured by weighted digraphs which are weakly connected and balanced. Some feasible linear matrix inequalities are established to determine the allowable upper bounds of multiple delays that guarantee the average consensus of the system. Numerical examples are provided to show the usefulness of the theoretical results.