A distributed delay consensus of multi-agent systems with nonlinear dynamics in directed networks

Abstract

This paper deals with the consensus problem of dynamical networks of multi-agents with communication delays. The communication topology is assumed to be directed and connected. The intrinsic nonlinear dynamics are introduced to reflect more realistic dynamical behaviors of the agent systems. We propose a complete consensus protocols that take into account the weighted sum historical information exchange over a time interval [t − τ, t]. Using tools from differential equations, together with results from matrix theory and algebraic graph theory, sufficient conditions are derived to make all agents asymptotically achieve the consistency. Simulation results illustrate the theoretical results.