Multi-agent consensus with a time-varying reference state in directed network with switching topology and time-delay

This paper is devoted to the study of multi-agent consensus with a time-varying reference state in directed networks with both switching topology and constant time delay. Stability analysis is performed based on a proposed Lyapunov-Krasovskii function. Sufficient conditions based on linear matrix inequalities (LMIs) are given to guarantee multi-agent consensus on a time-vary reference state under arbitrary switching of the network topology even if the network communication is affected by time delay. Finally, simulation examples are given to validate the theoretical results.