State consensus for multi-agent systems with switching topologies and time-varying delays. (English) Zbl 1330.94022

Summary: We investigate state consensus problems for discrete-time multi-agent systems with changing communications topologies and bounded time-varying communication delays. The analysis in this paper is based on the properties of non-negative matrices. We first extend the model of networks of dynamic agents to the case with multiple time-delays and prove that if the communication topology, time-delays, and weighting factors are time-invariant, then the necessary and sufficient condition that the multi-agent system solves a consensus problem is that the communication topology, represented by a directed graph, has spanning trees. Then we allow for dynamically changing communication topologies and bounded time-varying communication delays, and present some sufficient conditions for state consensus of system. Finally, as a special case of our model, the problem of asynchronous information exchange is also discussed.


94A14 Modulation and demodulation in information and communication theory
93C05 Linear systems in control theory
93C25 Control/observation systems in abstract spaces
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