In this paper, we introduce linear and nonlinear consensus protocols for networks of dynamic agents that allow the to agree in a distributed and cooperative fashion. consider the cases of networks with communication time-delays and channels that have filtering effects. find a tight upper bound on the maximum fixed time-delay can be tolerated in the network. It turns out that the of the network is the key in reaching a . The case of agreement with bounded inputs is by analyzing the convergence of a class of nonlinear protocols. A Lyapunov function is introduced that the total disagreement among the nodes of a . Simulation results are provided for agreement in networks with communication time-delays and constrained inputs.
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Saber et al. (2004) studied this question.
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