A less conservative method for average consensus with multiple time-varying delays

In this paper, average consensus problem of multiagent systems with switching topology and multiple time-varying delays are investigated in undirected networks. Based on Lyapunov stability theory combined with linear matrix inequalities (LMIs) techniques, some novel forms in terms of LMIs are obtained via taking relationship among the terms in the Newton-Leibniz formula into account. Since some free weighted matrices are employed to express this relationship and appropriate ones are selected by means of LMIs, this method is less conservative and more general. Finally, simulation examples are given to demonstrate the effectiveness of our theoretical results.