Consensus of Discrete-time Multi-agent Systems with Decaying Multiplicative Uncertainties

Abstract

The paper studies the consensus problem of discrete-time multi -agent systems (MASs) with decaying multiplicative uncertainties and bounded communication delays in switching networks. Under the assumption that the switching topology is uniformly rooted and the multiplicative uncertainty is exponentially (or polynomially) decaying, it is proved that by selecting a proper constant gain in the protocol, the consensus can be achieved exponentially (or polynomially) in the presence of any bounded communication delays. Numerical simulations are given to illustrate the obtained results.