Synchronization of Multi-Agent Systems under Time-Varying Network via Time-Delay Approach to Averaging

Bianca Caiazzo, Emilia Fridman, Alberto Petrillo, Stefania Santini

Research output: Contribution to journalConference articlepeer-review


This paper studies the leader-tracking problem of Multi-Agents Systems under a periodic time-varying communication topology, without requiring the connectivity of the network for all t ≥ 0. The case of both state and communication delays is considered. A fully distributed control protocol, along with the constructive time-delay approach to periodic averaging, are combined in order to solve the problem, thus ensuring that a time-dependent switching control rule preserves the input-to-state stability (ISS) of the entire network, despite the presence of disconnected topologies, state and communication delays. The original closed-loop error systems is transformed into a neutral-type system with discrete and distributed delays. ISS analysis of the neutral system employs appropriate Lyapunov-Krasovskii functionals leading to simple ISS conditions in terms of Linear Matrix Inequalities (LMIs), whose solution allows finding upper bounds on small parameter, state and communication delays that preserve ISS. Numerical simulations illustrate the effectiveness of the theoretical results.

Original languageEnglish
Pages (from-to)133-138
Number of pages6
Issue number36
StatePublished - 2022
Event17th IFAC Workshop on Time Delay Systems, TDS 2022 - Montreal, Canada
Duration: 27 Sep 202230 Sep 2022


  • Averaging
  • ISS
  • Lyapunov-Krasovskii method
  • Multi-Agent Systems
  • Time-delay systems


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