Synchronous Hybrid Event and Time Driven Consensus in Multiagent Networks With Time Delays
This paper studies the delay robustness of a class of synchronous hybrid event and time driven consensus protocols in undirected networks. These protocols can ensure the system performance at reduced data sampling rates. We consider three types of time delays in feedbacks, including one common time delay, multiple time invariant delays, and multiple time varying delays; and by sampled data control techniques, we characterize the maximum allowable time delay and the event detecting period for solving the average consensus problem in terms of the algebraic structure of interaction topologies. Simulations are given to show the effectiveness of theoretical results.
IEEE Transactions on Cybernetics