Consensus in Networks of Discrete-Time Multi-agent Systems: Dynamical Topologies and Delays

A stability analysis of general consensus algorithms in discrete-time networks of multi-agents is presented. Here, the networks can have time-varying topologies and delays, as well as nonlinearities. The Hajnal diameter approach is developed for synchronization analysis and sufficient conditions for both consensus at uniform value and synchronization at periodic trajectories are derived, which show how the periods depend on the transmission delay patterns.

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