Local Consensus of Nonlinear Multiagent Systems With Varying Delay Coupling
研究了有向通信网络中非线性多智能体系统在时变延迟下的局部一致性问题，通过线性化、Lyapunov-Krasovskii泛函和线性矩阵不等式给出了充分条件，并用数值例子验证了有效性。
This paper investigates the local consensus issue for multiagent systems with nonlinear dynamics and time-varying delays. By defining a weighted average state of the agents and applying local linearization, we show that the local consensus of the agents in a directed communication network can be guaranteed by the asymptotic stability of several decoupled delayed systems. Then, by employing a novel Lyapunov-Krasovskii functional, proposing a new extended reciprocally convex approach and using some matrix analysis, we derive a sufficient condition for the local consensus in terms of linear matrix inequalities associated with the dynamics of the agents, the eigenvalues of Laplacian matrix, and the time-varying delay. Finally, two numerical examples are provided to show the effectiveness of the analytical results.