Consensus in Noisy Switching Directed Networks with Time-Delays

Delay-dependent global stability analysis for consensus in a team of cooperating networked autonomous agents is considered in this paper. Asymptotic agreement in coupled multi decision space under communication lags and uncertainties is ensured using a multiplicative gain. A proper Lyapunov-Krasovskii functional (LKF) is used to find admissible gains. Results are in terms of main algebraic digraph properties which are only known for balanced digraphs with no uncertainty. Notion of balancing a digraph is introduced to use these known properties when digraph is not balanced.