Average consensus in networks of multi-agent with switching topology and time-varying delay

This paper addresses the problem of average consensus for multi-agent systems (MAS) with time-varying delay and switching communication topology. By designing a new Lyapunov-Krasovskii functional (LKF), applying the Wirtinger-based inequality and reciprocally convex combination approach to handle the integral terms of the derivative of the LKF, a novel delay-dependent sufficient condition in terms of Linear matrix inequalities is obtained for the average consensus of the MAS. A numerical example is given to illustrate the effectiveness of the proposed scheme.