A PD-like protocol to average consensus in networks of multi-agents with both switching topology and time-delay

Abstract

This paper is concerned with the problem of average consensus in directed networks of agents with both switching topology and time-delay. A proportional and derivative like (PD-like) consensus algorithm is developed to address such a problem, which improves the convergence rate. Also, a constant delay and a time-varying delay are taken into account respectively. The stability analysis is performed based on a proposed Lyapunov-Krasovskii function. Then, some new consensus conditions are given to guarantee the average consensus under arbitrary switching topologies. Finally, a numerical example is given to show the effectiveness of the developed results.