Consensus of multi-agent systems with adaptive coupling weight and communication delays

The problem of adaptive coupling multi-agent systems with communication delays is considered in this paper. First, the error system is constructed, and leader-following consensus problem is transformed into the stability problem of the local error system. Then, based on Lyapunov theory and techniques in matrix theory and inequalities, the conditions are obtained to ensure the achievement of leader-following consensus of multi-agent systems. Moreover, an adaptive coupling weight updating scheme is proposed to ensure leader-following consensus. Finally, a simulation is verified the correctness and strength of the theoretical results.