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Abstract
In this article, we propose a distributed δ-consensus protocol in directed networks of dynamic agents having communication delays. The δ-consensus protocol is an average consensus protocol where agents exchange the information with their neighbours at some discontinuous moments. We provide convergence analysis for such consensus algorithm under stochastic switching communication graphs, and then present some generic criteria for solving the average consensus problem. We also show that directed delayed networks of dynamic agents can achieve average consensus even when each agent in the networks intermittently exchanges the information with its neighbours only at some discrete moments. Subsequently, a typical numerical example illustrates and visualises the effectiveness and feasibility of the theoretical results.
Acknowledgements
This work was supported by the National Science Foundation of China (Grant Nos. 10972129, 10672094 and 10832006), the Specialized Research Foundation for the Doctoral Program of Higher Education (Grant No. 200802800015), the Innovation Program of Shanghai Municipal Education Commission (Grant No. 10ZZ61) and the Shanghai Leading Academic Discipline Project (Project No. S30106). An earlier version of this article was partially presented at the 18th IFAC World Congress, Milano, August 2011. The authors sincerely thank the anonymous reviewers for their valuable comments that have led to the present improved version of the original manuscript.