Global Consensus of Multiagent Systems With Internal Delays and Communication Delays

This paper investigates the global consensus of multiagent systems with internal delays, communication delays, and directed topology. By defining a weighted average state of agents, the considered network is decoupled into several subsystems, then the consensus of the considered systems can be guaranteed by the asymptotic stability of several low dimensional linear delayed systems. Furthermore, new Lyapunov-Krasovskii functional is constructed by introducing multi-integral terms and new augmented vectors, and extended relaxed integral inequality combining Wirtinger integral inequality with convex combination approach is also employed to tackle with the derivatives of the functional. As a result, the less conservative stability criterion is derived, which guarantees the global consensus of the considered multiagent systems. Several numerical examples are provided to show the effectiveness of the proposed methods.