Consensus analysis of directed multi-agent networks with singular configurations

This paper discusses the continuous-time consensus problems for directed multi-agent networks under certain coupling or control. Since agents are driven not only by their neighbors' states but also by their derivatives in many realistic situations, dynamical networks described by singular systems are appropriate to study. Consensus problems for such multi-agent networks are considered when the agents communicate in the presence or absence of time delays. The maximum tolerated time-delay is obtained when the multi-agent network asymptotically reaches consensus. The results of this paper indicate that such multi-agent networks can achieve consensus with a demanding convergent speed through agents' interactions. Numerical examples are given to demonstrate the effectiveness of the theoretical results.