Multi-Agent Consensus Using Both Current and Outdated States

We propose a distributed consensus algorithm for multi-agent systems. In contrast to the standard consensus algorithm that relies on only current states, the proposed algorithm uses both current states and outdated states stored in memory. The proposed algorithm is analyzed under an undirected communication graph. It is shown that the proposed algorithm converges faster than the standard consensus algorithm while requiring identical maximum control effort if the outdated states are chosen properly. Simulation results demonstrate the effectiveness of the proposed algorithm.