Consensus problems in continuous-time with time-varying communication delays

Takanobu Shida, Gen Li, Hiromitsu Ohmori, Akira Sano

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, we study a consensus problem of continuous time multi-agent system. Multi-agent system has communication network. Each agent gets information of neighbors to achieve consensus. It is assumed that there are delays in communication network. The communication delays are different every communication channels and time-dependent. Furthermore, it is assumed that there are switching topologies and feed-back gains are time variable. Under these assumptions, we show that the entire system is stable. The stability is shown by Lyapunov theorem.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
Publication statusPublished - 2011

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
ISSN (Print)1474-6670


  • Consensus
  • Lyapunov function
  • Robust stability
  • Switching topology
  • Time-delays

ASJC Scopus subject areas

  • Control and Systems Engineering


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