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

Table 2

Allowable upper bound on communication delay for first-order multi-agent systems with fixed topology 𝐺_𝑒 when 𝛾=2.

𝜇	0	0.5	0.9	Any
[19] Theorem  3	0.083	—	—	—
Corollary 8	4.393	4.392	4.393	4.393