Abstract
This paper investigates the semi-global state agreement problem for continuous-time nonlinear multi-agent systems with communication delays under direct and switching topologies. A systematic solution to the semi-global state agreement is presented and based on which a sufficient and necessary condition on the control laws is obtained, as long as the direct and switching communication topologies satisfy a mild joint connectivity assumption. Illustrative simulations are provided to validate the efficacy of the proposed theoretical results.
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