Consensus in Networks with Diverse Input and Communication Delays
نویسندگان
چکیده
This paper studies the consensus problem for multi-agent systems with diverse input and communication delays. Decentralized consensus conditions are obtained based on the frequency-domain analysis and matrix theory. By these conditions, to achieve consensus under large input delays, one should use small interconnection gains or have small numbers of neighbors when the graph is kept connected. For systems with diverse communication delays, a consensus protocol with unified self-delay is proposed. The obtained consensus conditions are dependent on the self-introduced delay but independent of communication delays when the digraph contains a globally reachable node.
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