Reduced-order observer-based consensus for multi-agent systems with nonuniform time-varying delays

This paper proposes a newly distributed reduced order agreement protocols based on the observer to investigate the consensus problem of high-order multi-agent systems with various agents and non-uniform delay of various time and directed communication topology. First, on the basis of Riccati equation, Lyapunov method, as well as Algebraic-Graph theory, a novel algorithm with multistep, is provided in order to build a protocol of reduced order. Secondly, with the application of the combined unequal technique, an adequate situation aiming at the agreement of multiple agents is concluded. Thirdly, the maximum time's assessment value delay is gained as well. Last but not least, a simulation example has been provided to explain the influence as well as the good features of the theoretical result.