Robust Stability of a Multi-Agent System Under Arbitrary and Time-Varying Communication Topologies and Communication Delays

This technical note considers formation control of a group of identical agents that can communicate with each other. A necessary and sufficient condition for robust stability in the case of arbitrary time-invariant communication topologies and sufficient conditions in the case of arbitrary time-varying topology and communication delays are derived, that reduce the stability analysis and controller design problems to analysis or synthesis, respectively, for a single agent.