  In this paper, robust finite-time consensus of a group of nonlinear
multi-agent systems in the presence of communication time delays is considered.
In particular, appropriate delay-dependent strategies which are less
conservative are suggested. Sufficient conditions for finite-time consensus in
the presence of deterministic and stochastic disturbances are presented. The
communication delays don't need to be time invariant, uniform, symmetric, or
even known. The only required condition is that all delays satisfy a known
upper bound. The consensus algorithm is appropriate for agents with partial
access to neighbor agents' signals. The Lyapunov-Razumikhin theorem for
finite-time convergence is used to prove the results. Simulation results on a
group of mobile robot manipulators as the agents of the system are presented.
