Abstract
A stabilization approach for the average consensus of homogeneous multi-agent systems (MASs) entailing non-uniform, asymmetric, and time-varying delays in communication networks is proposed. Agents are modeled using a continuous-time linear dynamical system with a local discrete-time controller. To address communication delays, we propose two logic functions, namely, a packet selection algorithm that constantly selects and updates the latest received control signal packets and a synchronization algorithm that asymmetrically synchronizes these packets to preserve the average value of state variables. Based on the Lyapunov theory, we establish a linear matrix inequality (LMI) condition that sufficiently guarantees the stability and consensus of the overall system. To establish this condition, only the time delay upper bound is required, without any special assumptions on the delay pattern. We thoroughly discuss the proposed algorithm and evaluate its effectiveness via numerical simulations.
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