Leader-following consensus of second-order agents with multiple time-varying delays

In this paper, a leader-following consensus problem of second-order multi-agent systems with fixed and switching topologies as well as non-uniform time-varying delays is considered. For the case of fixed topology, a necessary and sufficient condition is obtained. For the case of switching topology, a sufficient condition is obtained under the assumption that the total period over which the leader is globally reachable is sufficiently large. We not only prove that a consensus is reachable asymptotically but also give an estimation of the convergence rate. An example with simulation is presented to illustrate the theoretical results.