Consensus of second-order Leader-Following multi-agent systems with jointly-connected topologies and time-varying delays
Zhu Xia-bing · Jisuanji yingyong yanjiu · 2013
This paper discussed second-order leader-following consensus problem with time-varying communication delays under a jointly connected network topology and where the leader was dynamic.It assumed the communication topologies was dynamic and the topology in each subinterval was not connected.By the Lyapunov-Krasovskii theorems and contradiction method,it proved that the system would achieve consensus if the network was jointly-connected and the eigenvalues of each Laplacian matrices satisfied some conditions.Finally,it gave detailed description by an example of system which made up of four following agents and one leader agent.The numerical simulation shows the effectiveness of the results.