Abstract
In many applications involving multiagent systems, groups of agents are required to agree on certain quantities of interest. In particular, it is important to develop consensus protocols for networks of dynamic agents with directed information flow, switching network topologies, and possible system time-delays. In this paper, we use compartmental dynamical system models to characterize dynamic algorithms for linear and nonlinear networks of dynamic agents in the presence of inter-agent communication delays that possess a continuum of semistable equilibria, that is, protocol algorithms that guarantee convergence to Lyapunov stable equilibria. In addition, we show that the steady-state distribution of the dynamic network is uniform, leading to system state equipartitioning or consensus. These results extend the results in the literature on consensus protocols for linear balanced networks to linear and nonlinear unbalanced networks with time-delays.
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