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A consensus protocol for multi-agent systems with diverse communication delays

Yuping Tian
In this paper, a protocol is proposed to solve
the consensus problem of multi-agent systems with diverse
communication delays. Sufficient conditions for convergence
to a consensus are obtained based on the frequency-domain
analysis and matrix theory. The conditions depends on each
agent's self-delay, the weights of the edges to each agent's neighbors, and the interconnection topology of the network.
Under the proposed protocol the communication delays do not
influence the convergence; but prolong the converging time.
Simulation results illustrate the correctness of the results.
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