On State Agreement of Single-Integrator Agents With Communication Delays: A Nonlinear Distributed Control Approach

• 成果类型: Article
• 署名作者: Wang, Zhanxiu; Li, Huanhuan; Jin, Zhenghong; Jiang, Yi
• 署名单位: Yancheng Teachers University; Henan University of Technology; Zhejiang University; Nanyang Technological University; Huazhong University of Science & Technology; Huazhong University of Science & Technology; Huazhong University of Science & Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2026.3661902
• 发表日期: 2026
• 关键词: TIME MULTIAGENT SYSTEMS; Average consensus; switching topology; networks; CONVERGENCE; Protocols; input

摘要

This article investigates the asymptotic state agreement problem for discrete-time multiagent systems with time-varying communication delays under directed and flexible topologies. A nonlinear distributed scheme is proposed for dynamic agents modeled by first-order integrators. Based on the proposed scheme, necessary and sufficient conditions are derived to guarantee the asymptotic state agreement, provided that the directed switching network topology satisfies a mild joint connectivity assumption. Two numerical examples are presented to illustrate the efficacy of the obtained results.