Consensus in switching symmetric networks of first-order agents with delayed relative measurements

The paper addresses consensus under nonlinear couplings and bounded delays for multi-agent systems, where the agents have the single-integrator dynamics. The network topology is undirected and may alter as time progresses. The couplings are uncertain and satisfy a conventional sector condition with known sector slopes. The delays are uncertain, timevarying and obey known upper bounds. The network satisfies a symmetry condition that resembles the Newton´s Third Law. Explicit analytical conditions for the robust consensus are offered that employ only the known upper bounds for the delays and the sector slopes.