Average consensus problems in networks of agents with delayed communications

Authors:
Pierre-Alexandre Bliman;Giancarlo Ferrari-Trecate
Affiliations:
Institut National de Recherche en Informatique et en Automatique, Domaine de Voluceau, Rocquencourt B.P.105, 78153, Le Chesnay Cedex, France;Dipartimento di Informatica e Sistemistica, Universití degli Studi di Pavia, Via Ferrata 1, 27100 Pavia, Italy
Venue:
Automatica (Journal of IFAC)
Year:
2008

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Abstract

The present paper is devoted to the study of average consensus problems for undirected networks of dynamic agents having communication delays. By focusing on agents with integrator dynamics, the accent is put here on the study of the time-delay influence: both constant and time-varying delays are considered, as well as uniform and non-uniform repartitions of the delays in the network. The main results provide sufficient conditions (also necessary in most cases) for the existence of average consensus under bounded communication delays. Simulations are provided that show adequation with these results.