Robustness of consensus algorithm for communication delays and switching topology

In this paper, we study consensus problems of continuous time multi-agent systems. 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. In addition, we extend the consensus algorithm for first order systems to the output consensus algorithm for high order systems.