A new result on average consensus for multiple agents with switching topology and communication delay

This paper addresses the average consensus problem for directed networks of agents with both switching topology and coupling delay. By constructing a Lyapunov-Krasovskii functional and using the idea of delay partitioning, it is shown that average consensus can be attained for appropriate time delay if the weak connectedness and balance can be maintained by the communication topology. The applicability of the proposed theoretical result is verified by numerical results.