Robust Consensus Control for Linear Discrete-Time Swarm Systems with Parameter Uncertainties and Time-Varying Delays

Algorithm 1

A possible way to the optimization problem (37)–(40).

Step 1: Seek out a set of available values of , , , and for LMI (38)–(40), if there does not exist, then exit. Set .

Step 2: Set , , , and and seek out , , , and which are a settlement for the LMI problem subject to LMI (38)–(40).

Step 3: If , then exit. Otherwise, set and switch to Step 2.