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In this paper, robust finite-time consensus of a group of nonlinearmulti-agent systems in the presence of communication time delays is considered.In particular, appropriate delay-dependent strategies which are lessconservative are suggested. Sufficient conditions for finite-time consensus inthe presence of deterministic and stochastic disturbances are presented. Thecommunication delays don't need to be time invariant, uniform, symmetric, oreven known. The only required condition is that all delays satisfy a knownupper bound. The consensus algorithm is appropriate for agents with partialaccess to neighbor agents' signals. The Lyapunov-Razumikhin theorem forfinite-time convergence is used to prove the results. Simulation results on agroup of mobile robot manipulators as the agents of the system are presented.

Robust Finite-Time Consensus Subject to Unknown Communication Time Delays Based on Delay-Dependent Criteria