Journal of Systems Engineering and Electronics

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Weighted average consensus problem in networks of agents with diverse time-delays

Wenhui Liu1, Feiqi Deng1,*, Jiarong Liang2, and Xuekui Yan1   

  1. 1. College of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, China;
    2. School of Computer and Electronic Information, Guangxi University, Nanning 530004, China
  • Online:2014-12-29 Published:2010-01-03


This paper studies the weighted average consensus problem for networks of agents with fixed directed asymmetric unbalance information exchange topology. We suppose that the classical distributed consensus protocol is destroyed by diverse time-delays which include communication time-delay and self time-delay. Based on the generalized Nyquist stability criterion and the Gerschgorin disk theorem, some sufficient conditions for the consensus of multi-agent systems are obtained. And we give the expression of the weighted average consensus value for our consensus protocol. Finally, numerical examples are presented to illustrate the theoretical results.