Consensus of Multi-Agent Systems in Directed Networks With Nonuniform Time-Varying Delays

TLDR

The note investigates consensus in continuous‑time multi‑agent systems on directed networks with dynamically changing topologies and nonuniform time‑varying delays. A tree‑type transformation is introduced to analyze consensus across the three considered scenarios. The study establishes necessary and sufficient conditions for consensus in the three cases and validates them with simulation results.

Abstract

In this note, we study consensus problems for continuous-time multi-agent systems in directed networks with dynamically changing topologies and nonuniform time-varying delays. We have analyzed consensus problems in the following three cases: 1) directed networks with dynamically changing topologies and nonuniform time-varying delays; 2) directed networks with intermittent communication and data packet dropout; and 3) finite-time consensus in directed networks with dynamically changing topologies and nonuniform time-varying delays. We propose a new approach based on a tree-type transformation to investigate consensus problems in all three cases. Some necessary and/ or sufficient conditions are established. Simulation results are also given to demonstrate the theoretical results.