Consensus with convergence rate in directed networks with multiple non-differentiable input delays
Heitor Judiss Savino, Fernando O. Souza, Luciano C. A. Pimenta · 2014
This paper investigates consensus problems in directed networks of multi-agent systems considering multiple and non-differentiable time-varying delays. A transformation is carried out to convert the consensus problem into an analysis of stability. Then, a novel Lyapunov-Krasovskii functional (LKF) is employed to prove consensus with an estimate for the exponential convergence rate in terms of a set of Linear Matrix Inequalities (LMIs). Numerical simulations are provided to show the effectiveness of the proposed method. Comparisons with similar approaches are also presented.