Low Conservative Criteria for Robust Consensus of Multiagent Systems with Delays, Disturbances, and Topologies Uncertainties

Figure 3

State evolvement of multiagent systems with different 𝜏₁(𝑡) when 𝛽₀=2 and 𝜏₂(𝑡)=0.917|sin((0.5/0.917)𝑡)| s.

(a) Case I: 𝜏₁(𝑡)=0.2 s

(b) Case I: 𝜏₁(𝑡)=0.3 s

(c) Case I: 𝜏₁(𝑡)=0.4 s