Consensus of second-order multi-agent systems with nonuniform time-varying delays

Abstract: This paper is concerned with the consensus problem in directed networks with double-integrator dynamics and non-uniform time-varying communication delays. With the help of Lyapunov–Razumikhin function a necessary and sufficient condition is presented in the case when the delays are non-uniform and time-varying. Simulation results are provided to illustrate the theoretical results. [Copyright &y& Elsevier]