Consensus of the General Second-Order MASs with Nonuniform Uncertain Time-Varying Communication Delays

This paper delves into the investigation of the consensus problem of general second-order multi-agent systems (MASs) with nonuniform uncertain time-varying communication delays. With the directed graph having a spanning tree, a distributed control protocol is proposed to achieve the consensus among all agents. By leveraging the Lyapunov-Krasovskii function and Jensen Inequality, the paper derives sufficient conditions for the consensus with communication delay. The algorithm also presents an upper bound for the admissible communication delay even in the presence of nonuniform uncertain and time-varying communication delays. The correctness is finally illustrated through numerical simulations.