Consensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies. (English) Zbl 1175.93078

Summary: This paper studies the consensus problem of multi-agent systems with nonuniform time-delays and dynamically changing topologies. A linear consensus protocol is introduced to realize local control strategies for these second-order discrete-time agents. By model transformations and applying the properties of nonnegative matrices, sufficient conditions are derived for state consensus of the systems. It is shown that arbitrary bounded time-delays can safely be tolerated, even though the communication structures between agents dynamically change over time and the corresponding directed graphs may not have spanning trees. Finally, a numerical example is included to illustrate the obtained results.


93B50 Synthesis problems
93C55 Discrete-time control/observation systems
93A14 Decentralized systems
Full Text: DOI


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