Agreement of Networks of Discrete-Time Agents with Mixed Dynamics and Time Delays

Abstract EN

This paper considers agreement problems of networks of discrete-time agents with mixed dynamics and arbitrary bounded time delays, and networks consist of first-order agents and second-order agents.

By using the properties of nonnegative matrices and model transformations, we derive sufficient conditions for stationary agreement of networks with bounded time delays.

It is shown that stationary agreement can be achieved with arbitrary bounded time delays, if and only if fixed topology has a spanning tree and the union of the dynamically changing topologies has a spanning tree.

Simulation results are also given to demonstrate the effectiveness of our theoretical results.