Consensus in multi-agent systems with multiple disturbances and time delay via proportional-integral control

This paper studies the consensus in multi-agent systems with multiple disturbances and time delay over fixed and switching topology via proportional-integral control. The controller that includes proportional and integral actions is designed. By adopting matrix theory, algebraic graph theory and Lyapunov stability theory, sufficient conditions for consensus are obtained. Several numerical simulations are given to verify the effectiveness of the algorithms.