|Consensus Problems for Discrete-time Agents with Communication Delay
Zhenhua Wang*, Huanshui Zhang, Xinmin Song, and Huaxiang Zhang
International Journal of Control, Automation, and Systems, vol. 15, no. 4, pp.1515-1523, 2017
Abstract : "In this paper, consensus problems for first-order multi-agent systems with unstable pole are investigated
over undirected network, where the network is affected by communication delay. By jointly utilizing both the
delayed distributed state information and agent’s own historical input information in the protocol, sufficient condition
related to agent dynamic, network topology and communication delay is obtained for consensus, which is
also proven to be necessary in case of one step delay. Furthermore, the consensus problem is studied on condition
that the delay is time-varying. Finally, numerical simulations are provided to demonstrate the effectiveness of the
proposed theoretical results."
Communication delay, eigenratio, historical input information, multi-agent systems, undirected network.