  This paper presents a new method for dynamic output feedback stabilizing
controller design for decomposable systems with switching topology and delay.
Our approach consists of two steps. In the first step, we model the
decomposable systems with switching topology as equivalent LPV systems with a
piecewise constant parameter. In the second step, we design stabilizing output
feedbacks for these LPV systems in the presence of a time-varying output delay
using a trajectory-based stability analysis approach. We do not impose any
constraint on the delay derivative. Finally, we illustrate our approach by
applying it to the consensus problem of non-holonomic agents.
