Minimal‐time complex consensus for multi‐agent systems with time delay

This paper studies the minimum time consensus problem for discrete-time multi-agent systems with complex Laplacian delay networks such that each agent can find its value in a number of steps using local observations. The stability analysis is first provided and convergence condition derived weighted delays. Specifically, delayed system modeled by employing augmented graph representation. Via adding virtual agents systems, obtained bounded if communication topology digraph has spanning tree. A decentralized algorithm proposed minimal-time computation based on information from robot itself without relying external environment. hinges minimal polynomial matrix concerning graph. Furthermore, rearrangement provides an upper bound required to compute value. Simulation examples demonstrate effectiveness our results. advantage this approach it be easily deployed group rapidly achieve setting within any networks.