Consensus of multi-agent systems with state and input delays via non-fragile protocol

This paper studies the non-fragile consensus problem of nonlinear multi-agent systems (MASs) with state and input time-varying delays. The main purpose of this paper is to provide new approaches for the non-fragile consensus research of MASs with time-varying delay. To achieve this goal, a quadratic polynomial Lyapunov-Krasovskii functional is constructed and the generalised free-matrix-based integral inequality is employed. In addition, the quadratic function negative-determination method is applied to the consensus analysis of MASs with controller gain fluctuation. Finally, two novel consensus criteria are established. A simulation example is given to examine the effectiveness and superiority of the obtained criteria.