Consensus of multi-agent systems with nonuniform non-differentiable time-varying delays

In this paper the consensus problem for continuous time multi-agent systems in the presence of time-delay is addressed. A novel sufficient condition for the case of nonuniform non-differentiable time-varying delays with minimum value greater than zero and a method to compute an estimate of the convergence rate are given. Simulation examples are given to show the performance of the proposed method.