Robust exponential consensus of multi-agent systems with switching topologies and communication delays

In this paper, robust exponential consensus problems of multi-agent systems with switching topologies and communication delays are investigated by using Lyapunov-Krasovskii functions. A neighbor-based protocol is introduced, based on which the closed-loop system is transformed into a reduced-order form. Sufficient conditions in terms of a matrix inequality are given which guarantee robust exponential consensus of the system with a desired stability degree. In addition, the result is extended to the case in the presence of actuator faults. Simulations are provided to demonstrate the effectiveness of the theoretical results.