On State Agreement of Single-Integrator Agents With Communication Delays: A Nonlinear Distributed Control Approach
Abstract
This paper investigates the asymptotic state agreement problem for discrete-time multi-agent systems with timevarying communication delays under directed and flexible topologies. A nonlinear distributed scheme is proposed for dynamic agents modeled by first-order integrators. Based on the proposed scheme, necessary and sufficient conditions are derived to guarantee the asymptotic state agreement, provided that the directed switching network topology satisfies a mild joint connectivity assumption. Two numerical examples are presented to illustrate the efficacy of the obtained results.
Fields of Study & Subjects
Distributed Control Multi-Agent Systems
Mobile Agent-Based Network Management
Adaptive Dynamic Programming Control
Publication details
- Journal / source
- IEEE Transactions on Automatic Control
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Volume
- 71
- Issue
- 7
- Pages
- 4929–4936
- Publication date
- 6 February 2026
- Language
- EN