Guaranteed cost consensus for multi-agent systems with time delays

Guaranteed cost consensus problems for multi-agent systems with time delays are considered. The idea of guaranteed cost control is introduced into consensus problems for multi-agent systems with time delays, where a guaranteed cost function is proposed to simultaneously consider the consensus regulation performance and the energy consumption. For fixed topologies and switching topologies, some sufficient conditions for guaranteed cost consensus are given respectively by the state space decomposition approach and the Lyapunov method. Moreover, an upper bound of the guaranteed cost function and the consensus value are determined respectively for the two cases. Numerical simulations are presented to demonstrate the effectiveness of theoretical results.