Leader–following consensus criteria for multi-agent systems with time-varying delays and switching interconnection topologies

We consider multi-agent systems with time-varying delays and switching interconnection topologies. By constructing a suitable Lyapunov-Krasovskii functional and using the reciprocally convex approach, new delay-dependent consensus criteria for the systems are established in terms of linear matrix inequalities (LMIs), which can be easily solved by various effective optimization algorithms. Two numerical examples are given to illustrate the effectiveness of the proposed methods.