On robust consensus of multi-agent systems with communication delays

summary:In this paper, two robust consensus problems are considered for a multi-agent system with various disturbances. To achieve the robust consensus, two distributed control schemes for each agent, described by a second-order differential equation, are proposed. With the help of graph theory, the robust consensus stability of the multi-agent system with communication delays is obtained for both fixed and switching interconnection topologies. The results show the leaderless consensus can be achieved with some disturbances or time delays