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

Figure 4

State evolvement of multiagent systems with different 𝛽₀ when 𝜏₁(𝑡)=0.12 s and 𝜏₂(𝑡)=5.197|sin((0.5/5.197)𝑡)| s.

(a) Case II: 𝛽₀=1

(b) Case II: 𝛽₀=0.5

(c) Case II: 𝛽₀=0.05