Consensus analysis of switching multi-agent systems with fixed topology and time-delay

This paper investigates the average consensus problems of the discrete-time Markov switching linear multi-agent systems (LMAS) with fixed topology and time-delay. Firstly, we introduce a concept of the average consensus to adapt the stochastic systems. Secondly, a time-delay switching consensus protocol is proposed. By developing a new signal mode, the switching signal of the systems and the time-delay signal of the controller can be merged into one signal. Thirdly, by Lyapunov technique, two LMIs criteria of average consensus are provided, and they reveal that the consensus of the multi-agent systems relates to the spectral radius of the Laplacian matrix. Furthermore, by our results and CCL-type algorithms, we can get the gain matrices. Finally, a numerical example is given to illustrate the efficiency of our results. (C) 2016 Elsevier B.V. All rights reserved.