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This paper is concerned with the consensus problem for multi-agent systemssubject to communication delays between the neighboring agents. We consider ascenario where each agent is characterized by a general high-order linearsystem and the communication delays between the agents are non-uniform andtime-varying. We design a distributed control protocol for the agents andprovide an equivalent stability problem to be solved that guarantees the stateconsensus in the group of agents. Moreover, a delay-dependent stabilitycriterion is provided by combining the Lyapunov-Krasovskii method with thelinear matrix inequality approach.

Consensus Control of Linear Multi-Agent Systems with Non-uniform Time-varying Communication Delays