Abstract
This paper studies consensus problem of discrete-time networked multi-agent systems (NMASs) with directed networks and a communication delay. A novel consensus protocol based on the networked predictive control schemes is proposed to compensate for communication delay actively. For the NMAS with fixed directed topology and a constant delay, necessary and sufficient conditions of achieving consensus are given, which indicates that consensus is independent of the constant delay. A simulation result is further presented to demonstrate the effectiveness of theoretical results.
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